# Formation tracking control design for uncertain artificial swarm systems under inequality constraints: Leakage and dead-zone type

> Research article (ISA Transactions, 2022) · cited 12× · AI/ML

**Wikidata**: [openalex:W4307140525](https://www.wikidata.org/wiki/openalex:W4307140525)  
**Source**: https://4ort.xyz/entity/formation-tracking-control-design-for-uncertain-artificial-swarm-systems-under-inequality-constraints-leakage-and-dead-z