# Predefined-time robust control with formation constraints and saturated controls

> Research article (Nonlinear Dynamics, 2022) · cited 13× · AI/ML

**Wikidata**: [openalex:W4292181096](https://www.wikidata.org/wiki/openalex:W4292181096)  
**Source**: https://4ort.xyz/entity/predefined-time-robust-control-with-formation-constraints-and-saturated-controls