# Robust H∞ output consensus of heterogeneous nonlinear multi-agent systems with external disturbance and unknown time-delay based on distributed Lyapunov-based MPC

> Research article (Journal of Vibration and Control, 2023) · cited 11× · AI/ML

**Wikidata**: [openalex:W4366495351](https://www.wikidata.org/wiki/openalex:W4366495351)  
**Source**: https://4ort.xyz/entity/robust-h-output-consensus-of-heterogeneous-nonlinear-multi-agent-systems-with-external-disturbance-and-unknown-time-dela