# Cooperative Output Regulation of Heterogeneous Nonlinear Multi-Agent Systems With Unknown Control Directions

> Research article (IEEE Transactions on Automatic Control, 2016) · cited 96× · AI/ML

**Wikidata**: [openalex:W2520074916](https://www.wikidata.org/wiki/openalex:W2520074916)  
**Source**: https://4ort.xyz/entity/cooperative-output-regulation-of-heterogeneous-nonlinear-multi-agent-systems-with-unknown-control-directions