{"id":"https://openalex.org/W4400071815","doi":"https://doi.org/10.1109/access.2024.3419815","title":"Formation Control of Heterogeneous Multi-Agent Systems Under Fixed and Switching Hierarchies","display_name":"Formation Control of Heterogeneous Multi-Agent Systems Under Fixed and Switching Hierarchies","publication_year":2024,"publication_date":"2024-01-01","ids":{"openalex":"https://openalex.org/W4400071815","doi":"https://doi.org/10.1109/access.2024.3419815"},"language":"en","primary_location":{"id":"doi:10.1109/access.2024.3419815","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419815","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"type":"article","indexed_in":["crossref","doaj"],"open_access":{"is_oa":true,"oa_status":"gold","oa_url":"https://doi.org/10.1109/access.2024.3419815","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5069749585","display_name":"Muhammad Shamrooz Aslam","orcid":"https://orcid.org/0000-0002-7622-1788"},"institutions":[{"id":"https://openalex.org/I25757504","display_name":"China University of Mining and Technology","ror":"https://ror.org/01xt2dr21","country_code":"CN","type":"education","lineage":["https://openalex.org/I25757504"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Muhammad Shamrooz Aslam","raw_affiliation_strings":["Artificial Intelligence Research Institute, China University of Mining and Technology, Xuzhou, China"],"raw_orcid":"https://orcid.org/0000-0002-7622-1788","affiliations":[{"raw_affiliation_string":"Artificial Intelligence Research Institute, China University of Mining and Technology, Xuzhou, China","institution_ids":["https://openalex.org/I25757504"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5021024982","display_name":"Hazrat Bilal","orcid":"https://orcid.org/0000-0002-7328-3705"},"institutions":[{"id":"https://openalex.org/I126520041","display_name":"University of Science and Technology of China","ror":"https://ror.org/04c4dkn09","country_code":"CN","type":"education","lineage":["https://openalex.org/I126520041","https://openalex.org/I19820366"]}],"countries":["CN"],"is_corresponding":false,"raw_author_name":"Hazrat Bilal","raw_affiliation_strings":["Department of Automation, University of Science and Technology of China, Hefei, China"],"raw_orcid":"https://orcid.org/0000-0002-7328-3705","affiliations":[{"raw_affiliation_string":"Department of Automation, University of Science and Technology of China, Hefei, China","institution_ids":["https://openalex.org/I126520041"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5068330117","display_name":"Wen\u2010Jer Chang","orcid":"https://orcid.org/0000-0001-5054-8451"},"institutions":[{"id":"https://openalex.org/I153512688","display_name":"National Taiwan Ocean University","ror":"https://ror.org/03bvvnt49","country_code":"TW","type":"education","lineage":["https://openalex.org/I153512688"]}],"countries":["TW"],"is_corresponding":false,"raw_author_name":"Wen-Jer Chang","raw_affiliation_strings":["Department of Marine Engineering, National Taiwan Ocean University (NTOU), Keelung, Taiwan"],"raw_orcid":"https://orcid.org/0000-0001-5054-8451","affiliations":[{"raw_affiliation_string":"Department of Marine Engineering, National Taiwan Ocean University (NTOU), Keelung, Taiwan","institution_ids":["https://openalex.org/I153512688"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5081589852","display_name":"Abid Yahya","orcid":"https://orcid.org/0000-0003-3741-8315"},"institutions":[{"id":"https://openalex.org/I216286881","display_name":"Botswana International University of Science and Technology","ror":"https://ror.org/04cr2sq58","country_code":"BW","type":"education","lineage":["https://openalex.org/I216286881"]}],"countries":["BW"],"is_corresponding":false,"raw_author_name":"Abid Yahya","raw_affiliation_strings":["Department of Electrical, Computer and Telecommunications Engineering, Botswana International University of Science and Technology, Palapye, Botswana"],"raw_orcid":"https://orcid.org/0000-0003-3741-8315","affiliations":[{"raw_affiliation_string":"Department of Electrical, Computer and Telecommunications Engineering, Botswana International University of Science and Technology, Palapye, Botswana","institution_ids":["https://openalex.org/I216286881"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5053685870","display_name":"Irfan Anjum Badruddin","orcid":"https://orcid.org/0000-0002-2247-7999"},"institutions":[{"id":"https://openalex.org/I82952536","display_name":"King Khalid University","ror":"https://ror.org/052kwzs30","country_code":"SA","type":"education","lineage":["https://openalex.org/I82952536"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Irfan Anjum Badruddin","raw_affiliation_strings":["Department of Mechanical Engineering, College of Engineering, King Khalid University, Abha, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, College of Engineering, King Khalid University, Abha, Saudi Arabia","institution_ids":["https://openalex.org/I82952536"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5023330091","display_name":"Sarfaraz Kamangar","orcid":"https://orcid.org/0000-0001-7838-1884"},"institutions":[{"id":"https://openalex.org/I82952536","display_name":"King Khalid University","ror":"https://ror.org/052kwzs30","country_code":"SA","type":"education","lineage":["https://openalex.org/I82952536"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Sarfaraz Kamangar","raw_affiliation_strings":["Department of Mechanical Engineering, College of Engineering, King Khalid University, Abha, Saudi Arabia"],"raw_orcid":"https://orcid.org/0000-0001-7838-1884","affiliations":[{"raw_affiliation_string":"Department of Mechanical Engineering, College of Engineering, King Khalid University, Abha, Saudi Arabia","institution_ids":["https://openalex.org/I82952536"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5038367387","display_name":"Mohamed Hussien","orcid":"https://orcid.org/0000-0002-3551-9078"},"institutions":[{"id":"https://openalex.org/I82952536","display_name":"King Khalid University","ror":"https://ror.org/052kwzs30","country_code":"SA","type":"education","lineage":["https://openalex.org/I82952536"]}],"countries":["SA"],"is_corresponding":false,"raw_author_name":"Mohamed Hussien","raw_affiliation_strings":["Department of Chemistry, Faculty of Science, King Khalid University, Abha, Saudi Arabia"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Department of Chemistry, Faculty of Science, King Khalid University, Abha, Saudi Arabia","institution_ids":["https://openalex.org/I82952536"]}]}],"institutions":[],"countries_distinct_count":4,"institutions_distinct_count":5,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":{"value":1850,"currency":"USD","value_usd":1850},"apc_paid":{"value":1850,"currency":"USD","value_usd":1850},"fwci":6.5339,"has_fulltext":false,"cited_by_count":23,"citation_normalized_percentile":{"value":0.97174775,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":96,"max":100},"biblio":{"volume":"12","issue":null,"first_page":"97868","last_page":"97882"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T10249","display_name":"Distributed Control Multi-Agent Systems","score":1.0,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11347","display_name":"Neural Networks Stability and Synchronization","score":0.9916999936103821,"subfield":{"id":"https://openalex.org/subfields/1705","display_name":"Computer Networks and Communications"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11133","display_name":"UAV Applications and Optimization","score":0.991599977016449,"subfield":{"id":"https://openalex.org/subfields/2202","display_name":"Aerospace Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7182881832122803},{"id":"https://openalex.org/keywords/network-topology","display_name":"Network topology","score":0.6749204397201538},{"id":"https://openalex.org/keywords/protocol","display_name":"Protocol (science)","score":0.5629148483276367},{"id":"https://openalex.org/keywords/multi-agent-system","display_name":"Multi-agent system","score":0.5246384739875793},{"id":"https://openalex.org/keywords/automation","display_name":"Automation","score":0.5146582722663879},{"id":"https://openalex.org/keywords/distributed-computing","display_name":"Distributed computing","score":0.4964662194252014},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.4431438148021698},{"id":"https://openalex.org/keywords/matlab","display_name":"MATLAB","score":0.44159233570098877},{"id":"https://openalex.org/keywords/heterogeneous-network","display_name":"Heterogeneous network","score":0.43803924322128296},{"id":"https://openalex.org/keywords/topology","display_name":"Topology (electrical circuits)","score":0.35534703731536865},{"id":"https://openalex.org/keywords/computer-network","display_name":"Computer network","score":0.23497894406318665},{"id":"https://openalex.org/keywords/wireless","display_name":"Wireless","score":0.11920741200447083},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.11668571829795837},{"id":"https://openalex.org/keywords/telecommunications","display_name":"Telecommunications","score":0.1166583001613617},{"id":"https://openalex.org/keywords/wireless-network","display_name":"Wireless network","score":0.08090072870254517},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.07536795735359192}],"concepts":[{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7182881832122803},{"id":"https://openalex.org/C199845137","wikidata":"https://www.wikidata.org/wiki/Q145490","display_name":"Network topology","level":2,"score":0.6749204397201538},{"id":"https://openalex.org/C2780385302","wikidata":"https://www.wikidata.org/wiki/Q367158","display_name":"Protocol (science)","level":3,"score":0.5629148483276367},{"id":"https://openalex.org/C41550386","wikidata":"https://www.wikidata.org/wiki/Q529909","display_name":"Multi-agent system","level":2,"score":0.5246384739875793},{"id":"https://openalex.org/C115901376","wikidata":"https://www.wikidata.org/wiki/Q184199","display_name":"Automation","level":2,"score":0.5146582722663879},{"id":"https://openalex.org/C120314980","wikidata":"https://www.wikidata.org/wiki/Q180634","display_name":"Distributed computing","level":1,"score":0.4964662194252014},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.4431438148021698},{"id":"https://openalex.org/C2780365114","wikidata":"https://www.wikidata.org/wiki/Q169478","display_name":"MATLAB","level":2,"score":0.44159233570098877},{"id":"https://openalex.org/C158207573","wikidata":"https://www.wikidata.org/wiki/Q5747224","display_name":"Heterogeneous network","level":4,"score":0.43803924322128296},{"id":"https://openalex.org/C184720557","wikidata":"https://www.wikidata.org/wiki/Q7825049","display_name":"Topology (electrical circuits)","level":2,"score":0.35534703731536865},{"id":"https://openalex.org/C31258907","wikidata":"https://www.wikidata.org/wiki/Q1301371","display_name":"Computer network","level":1,"score":0.23497894406318665},{"id":"https://openalex.org/C555944384","wikidata":"https://www.wikidata.org/wiki/Q249","display_name":"Wireless","level":2,"score":0.11920741200447083},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.11668571829795837},{"id":"https://openalex.org/C76155785","wikidata":"https://www.wikidata.org/wiki/Q418","display_name":"Telecommunications","level":1,"score":0.1166583001613617},{"id":"https://openalex.org/C108037233","wikidata":"https://www.wikidata.org/wiki/Q11375","display_name":"Wireless network","level":3,"score":0.08090072870254517},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.07536795735359192},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C71924100","wikidata":"https://www.wikidata.org/wiki/Q11190","display_name":"Medicine","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0},{"id":"https://openalex.org/C204787440","wikidata":"https://www.wikidata.org/wiki/Q188504","display_name":"Alternative medicine","level":2,"score":0.0},{"id":"https://openalex.org/C78519656","wikidata":"https://www.wikidata.org/wiki/Q101333","display_name":"Mechanical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C142724271","wikidata":"https://www.wikidata.org/wiki/Q7208","display_name":"Pathology","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/access.2024.3419815","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419815","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},{"id":"pmh:oai:doaj.org/article:46df69f778144ef68134ac09cd374356","is_oa":true,"landing_page_url":"https://doaj.org/article/46df69f778144ef68134ac09cd374356","pdf_url":null,"source":{"id":"https://openalex.org/S4306401280","display_name":"DOAJ (DOAJ: Directory of Open Access Journals)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"repository"},"license":"cc-by-sa","license_id":"https://openalex.org/licenses/cc-by-sa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"IEEE Access, Vol 12, Pp 97868-97882 (2024)","raw_type":"article"}],"best_oa_location":{"id":"doi:10.1109/access.2024.3419815","is_oa":true,"landing_page_url":"https://doi.org/10.1109/access.2024.3419815","pdf_url":null,"source":{"id":"https://openalex.org/S2485537415","display_name":"IEEE Access","issn_l":"2169-3536","issn":["2169-3536"],"is_oa":true,"is_in_doaj":true,"is_core":true,"host_organization":"https://openalex.org/P4310319808","host_organization_name":"Institute of Electrical and Electronics Engineers","host_organization_lineage":["https://openalex.org/P4310319808"],"host_organization_lineage_names":["Institute of Electrical and Electronics Engineers"],"type":"journal"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"IEEE Access","raw_type":"journal-article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"grobid_xml":false,"pdf":false},"content_urls":null,"referenced_works_count":59,"referenced_works":["https://openalex.org/W2021313664","https://openalex.org/W2029251882","https://openalex.org/W2055860832","https://openalex.org/W2099123025","https://openalex.org/W2099586295","https://openalex.org/W2107396783","https://openalex.org/W2337809359","https://openalex.org/W2460817061","https://openalex.org/W2482259485","https://openalex.org/W2561234206","https://openalex.org/W2607440371","https://openalex.org/W2612120140","https://openalex.org/W2769807282","https://openalex.org/W2963058313","https://openalex.org/W2971861861","https://openalex.org/W3000447532","https://openalex.org/W3015087125","https://openalex.org/W3015422010","https://openalex.org/W3023507828","https://openalex.org/W3027420967","https://openalex.org/W3029232779","https://openalex.org/W3031997811","https://openalex.org/W3035925006","https://openalex.org/W3130241759","https://openalex.org/W3136817837","https://openalex.org/W4226127943","https://openalex.org/W4283021211","https://openalex.org/W4296480638","https://openalex.org/W4310172124","https://openalex.org/W4312884307","https://openalex.org/W4313456642","https://openalex.org/W4313550924","https://openalex.org/W4313892879","https://openalex.org/W4315778264","https://openalex.org/W4320802783","https://openalex.org/W4323066017","https://openalex.org/W4361764653","https://openalex.org/W4362669055","https://openalex.org/W4380792441","https://openalex.org/W4382060056","https://openalex.org/W4382936409","https://openalex.org/W4383428316","https://openalex.org/W4385071190","https://openalex.org/W4385741129","https://openalex.org/W4385755411","https://openalex.org/W4388159873","https://openalex.org/W4388571684","https://openalex.org/W4388742310","https://openalex.org/W4388918258","https://openalex.org/W4390582931","https://openalex.org/W4390788172","https://openalex.org/W4390837368","https://openalex.org/W4390956278","https://openalex.org/W4391164221","https://openalex.org/W4391454601","https://openalex.org/W4391661660","https://openalex.org/W4391882283","https://openalex.org/W4391909201","https://openalex.org/W6851505817"],"related_works":["https://openalex.org/W4251298892","https://openalex.org/W1927327903","https://openalex.org/W2356013541","https://openalex.org/W1598820299","https://openalex.org/W2079049982","https://openalex.org/W1490949538","https://openalex.org/W2751205960","https://openalex.org/W2180200293","https://openalex.org/W2292721517","https://openalex.org/W2033417366"],"abstract_inverted_index":{"Modern":[0],"information":[1,10],"technology":[2],"is":[3,74,87,98,113,142,147],"driving":[4],"the":[5,9,15,35,45,59,94,101,104,133,137,140,145,156,168,172],"rapid":[6],"development":[7],"of":[8,17,37,52,62,103,139],"and":[11,22,71,84,100,110,117,127,144,177],"automation":[12],"industry":[13],"through":[14],"combination":[16],"computer":[18],"technology,":[19,21],"communication":[20,67,85],"control":[23,47,61,96,106,120,159],"technology.":[24],"Inspired":[25],"by":[26,149],"nature\u2019s":[27],"cluster":[28],"movement,":[29],"such":[30],"as":[31],"birds,":[32],"people":[33],"proposed":[34,105,157],"concept":[36],"Multi-Agent":[38],"Systems":[39],"(MASs).":[40],"This":[41],"paper":[42,165],"deals":[43],"with":[44,56,66,81,161],"formation":[46,60,95,158],"problem":[48],"for":[49,124],"a":[50],"class":[51],"heterogeneous":[53,63,77],"multi\u2013agent":[54,64,78,119],"systems":[55,65,169],"time-delays.":[57],"First,":[58],"delay":[68,83,86,162],"in":[69,108,163],"fixed":[70,109,126,176],"switching":[72],"topologies":[73,112],"investigated.":[75],"A":[76],"system":[79,121],"model":[80],"input":[82],"established.":[88],"Furthermore,":[89],"based":[90],"on":[91],"this":[92,164],"model,":[93],"protocol":[97,107,160],"designed":[99],"stability":[102],"switched":[111,128,178],"analyzed.":[114],"The":[115,151],"first\u2013":[116],"second-order":[118],"was":[122],"formulated":[123],"both":[125],"topology,":[129],"respectively.":[130],"Then,":[131],"using":[132],"new":[134],"LMI":[135],"toolbox,":[136],"feasibility":[138],"parameters":[141],"obtained":[143],"example":[146],"created":[148],"MATLAB.":[150],"simulation":[152],"results":[153],"show":[154],"that":[155],"can":[166],"make":[167],"converge":[170],"to":[171],"expected":[173],"value":[174],"under":[175],"hierarchies.":[179]},"counts_by_year":[{"year":2026,"cited_by_count":2},{"year":2025,"cited_by_count":18},{"year":2024,"cited_by_count":3}],"updated_date":"2025-11-06T03:46:38.306776","created_date":"2025-10-10T00:00:00"}