# Time‐varying formation of second‐order discrete‐time multi‐agent systems under non‐uniform communication delays and switching topology with application to UAV formation flying

> Research article (IET Control Theory and Applications, 2020) · cited 46× · AI/ML

**Wikidata**: [openalex:W3035925006](https://www.wikidata.org/wiki/openalex:W3035925006)  
**Source**: https://4ort.xyz/entity/timevarying-formation-of-secondorder-discretetime-multiagent-systems-under-nonuniform-communication-delays-and-switching