# Time-varying group formation tracking control for second-order multi-agent systems with communication delays and multiple leaders

> Research article (Journal of the Franklin Institute, 2020) · cited 51× · AI/ML

**Wikidata**: [openalex:W3045787746](https://www.wikidata.org/wiki/openalex:W3045787746)  
**Source**: https://4ort.xyz/entity/time-varying-group-formation-tracking-control-for-second-order-multi-agent-systems-with-communication-delays-and-multipl