# Fixed-Time Fault-Tolerant Formation Control for Heterogeneous Multi-Agent Systems With Parameter Uncertainties and Disturbances

> Research article (IEEE Transactions on Circuits and Systems I Regular Papers, 2021) · cited 166× · AI/ML

**Wikidata**: [openalex:W3133776341](https://www.wikidata.org/wiki/openalex:W3133776341)  
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