# Robust leaderless time-varying formation control for unmanned aerial vehicle swarm system with Lipschitz nonlinear dynamics and directed switching topologies

> Research article (Chinese Journal of Aeronautics, 2021) · cited 28× · AI/ML

**Wikidata**: [openalex:W3178148217](https://www.wikidata.org/wiki/openalex:W3178148217)  
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