# Finite-Time Consensus Tracking of Nonlinear Heterogeneous Multi-Agent Systems With Disturbances and Directed Graphs

> Research article (IEEE Access, 2020) · cited 13× · AI/ML

**Wikidata**: [openalex:W3030360171](https://www.wikidata.org/wiki/openalex:W3030360171)  
**Source**: https://4ort.xyz/entity/finite-time-consensus-tracking-of-nonlinear-heterogeneous-multi-agent-systems-with-disturbances-and-directed-graphs