This paper investigates the bipartite tracking problem of networked robotic systems (NRSs) subject to input disturbances, discrete communications and signed directed graphs. Two new classes of hierarchical hybrid control algorithms (HHCAs), which involve both continuous and discontinuous signals in a uniform framework, are designed to solve the aforementioned problem in the model-independent control manner, i.e., without using the prior information of the system model. Besides, with the help of the Lyapunov statement and hybrid system theory, we establish several sufficient conditions for guaranteeing the convergence of the proposed hybrid algorithms. Finally, numerical examples are presented to illustrate the effectiveness of the proposed results.

中文翻译：

---

通过分层混合控制对联网机器人系统进行基于离散通信的双向跟踪

本文研究了受输入干扰、离散通信和带符号有向图影响的联网机器人系统 (NRS) 的二部跟踪问题。设计了两类新的分层混合控制算法（HHCA），它们在统一框架中涉及连续和不连续信号，以独立于模型的控制方式解决上述问题，即不使用系统模型的先验信息. 此外，借助李雅普诺夫陈述和混合系统理论，我们建立了几个充分条件来保证所提出的混合算法的收敛性。最后，给出了数值例子来说明所提出结果的有效性。