中国科学院数学与系统科学研究院期刊网
Quantized Formation Control of Heterogeneous Nonlinear Multi-Agent Systems with Switching Topology
LIU Ying, HU Jun, LI Yongming
Journal of Systems Science and Complexity . 2023, (6): 2382 -2397 .  DOI: 10.1007/s11424-023-2387-2