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Finite-Time Leader-Following Consensus of Multiagent System..:

Yin, Yanhui ; Wang, Fuyong ; Liu, Zhongxin.
IEEE Transactions on Systems, Man, and Cybernetics: Systems.  52 (2022)  5 - p. 3314-3325 , 2022
Link: https://doi.org/10.1109/tsmc.2021.3064361