# Consensus of second-order heterogeneous multi-agent systems with and without input saturation

> Research article (ISA Transactions, 2021) · cited 140× · AI/ML

**Wikidata**: [openalex:W3188065140](https://www.wikidata.org/wiki/openalex:W3188065140)  
**Source**: https://4ort.xyz/entity/consensus-of-second-order-heterogeneous-multi-agent-systems-with-and-without-input-saturation