# Time-varying formation control for nonlinear multi-agent systems against actuator attacks

> Research article (Journal of the Franklin Institute, 2022) · cited 24× · AI/ML

**Wikidata**: [openalex:W4290829889](https://www.wikidata.org/wiki/openalex:W4290829889)  
**Source**: https://4ort.xyz/entity/time-varying-formation-control-for-nonlinear-multi-agent-systems-against-actuator-attacks