Abstract This paper studies the formation control problem in clustered network systems composing of linear agents that are subjected to state constraints. In each cluster, there exists an agent called a leader who can communicate with other leaders outside of its cluster at some specific discrete instants. Moreover, the continuous-time communication structure in each cluster is represented by a fixed and undirected graph. A robust formation control protocol is proposed to deal with the hybrid communication described above and the constraints on states of agents. It is next shown that the hybrid robust formation control design for clustered multi-agent networks can be indirectly solved through the robust stabilization design of an equivalent system obtained by matrix theory and algebraic graph theory. Then, a robust controller is designed for the initial clustered network system in terms of linear matrix inequalities. Finally, a formation design for unmanned aerial vehicles is carried out and simulated to illustrate the effectiveness of the proposed hybrid formation control design method.

中文翻译：

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集群网络中多智能体系统状态约束下的鲁棒编队控制

摘要 本文研究了由受状态约束的线性代理组成的集群网络系统中的编队控制问题。在每个集群中，都存在一个称为领导者的代理，他可以在某些特定的离散时刻与集群外的其他领导者进行通信。此外，每个集群中的连续时间通信结构由一个固定的无向图表示。提出了一种鲁棒的编队控制协议来处理上述混合通信和对代理状态的约束。接下来表明，通过矩阵理论和代数图论获得的等效系统的鲁棒镇定设计，可以间接解决集群多智能体网络的混合鲁棒编队控制设计。然后，根据线性矩阵不等式，为初始集群网络系统设计了一个鲁棒控制器。最后，进行了无人机编队设计并进行了仿真，以说明所提出的混合编队控制设计方法的有效性。