# Fixed-time time-varying output formation–containment control of heterogeneous general multi-agent systems

> Research article (ISA Transactions, 2023) · cited 58× · AI/ML

**Wikidata**: [openalex:W4313830986](https://www.wikidata.org/wiki/openalex:W4313830986)  
**Source**: https://4ort.xyz/entity/fixed-time-time-varying-output-formationcontainment-control-of-heterogeneous-general-multi-agent-systems