# Distributed Fault-Tolerant Time-Varying Formation Control for Second-Order Multi-Agent Systems With Actuator Failures and Directed Topologies

> Research article (IEEE Transactions on Circuits & Systems II Express Briefs, 2017) · cited 94× · AI/ML

**Wikidata**: [openalex:W2750756645](https://www.wikidata.org/wiki/openalex:W2750756645)  
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