# Hierarchical Structure-Based Fixed-Time Optimal Fault-Tolerant Time-Varying Output Formation Control for Heterogeneous Multiagent Systems

> Research article (IEEE Transactions on Systems Man and Cybernetics Systems, 2023) · cited 40× · AI/ML

**Wikidata**: [openalex:W4361764653](https://www.wikidata.org/wiki/openalex:W4361764653)  
**Source**: https://4ort.xyz/entity/hierarchical-structure-based-fixed-time-optimal-fault-tolerant-time-varying-output-formation-control-for-heterogeneous-m