# Distributed Adaptive Bipartite Time-Varying Formation Control for Heterogeneous Unknown Nonlinear Multi-Agent Systems

> Research article (IEEE Access, 2021) · cited 12× · AI/ML

**Wikidata**: [openalex:W3147521526](https://www.wikidata.org/wiki/openalex:W3147521526)  
**Source**: https://4ort.xyz/entity/distributed-adaptive-bipartite-time-varying-formation-control-for-heterogeneous-unknown-nonlinear-multi-agent-systems