# Null-Space-Based Time-Varying Formation Control of Uncertain Nonlinear Second-Order Multiagent Systems With Collision Avoidance

> Research article (IEEE Transactions on Industrial Electronics, 2022) · cited 73× · AI/ML

**Wikidata**: [openalex:W4312353439](https://www.wikidata.org/wiki/openalex:W4312353439)  
**Source**: https://4ort.xyz/entity/null-space-based-time-varying-formation-control-of-uncertain-nonlinear-second-order-multiagent-systems-with-collision-av