# Finite-Time Formation Control of Second-Order Linear Multi-Agent Systems With Relative State Constraints: A Barrier Function Sliding Mode Control Approach

> Research article (IEEE Transactions on Circuits & Systems II Express Briefs, 2021) · cited 32× · AI/ML

**Wikidata**: [openalex:W3184495347](https://www.wikidata.org/wiki/openalex:W3184495347)  
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