Jiao, Jianmin, Junmin Li, Chao He, and Rui Zhang. “Fixed-Time Distributed Formation Control for Nonlinear Heterogeneous Multiagent Systems Subject to Input Nonlinearities and Actuator Faults”. Nonlinear Analysis: Modelling and Control 31 (April 2, 2026): 1–26. Accessed April 15, 2026. https://www.journals.vu.lt/nonlinear-analysis/article/view/46178.