# Formation preview tracking for heterogeneous multi-agent systems: A dynamical feedforward output regulation approach

> Research article (ISA Transactions, 2022) · cited 10× · AI/ML

**Wikidata**: [openalex:W4285808687](https://www.wikidata.org/wiki/openalex:W4285808687)  
**Source**: https://4ort.xyz/entity/formation-preview-tracking-for-heterogeneous-multi-agent-systems-a-dynamical-feedforward-output-regulation-approach