# Saturated formation containment control for a heterogeneous multi-agent system with unknown perturbations

> Research article (Automatica, 2023) · cited 21× · AI/ML

**Wikidata**: [openalex:W4387762666](https://www.wikidata.org/wiki/openalex:W4387762666)  
**Source**: https://4ort.xyz/entity/saturated-formation-containment-control-for-a-heterogeneous-multi-agent-system-with-unknown-perturbations