In this article, we consider the optimal topology design and distributed formation control problem of multiagent systems (MAS) with complex‐weighted directed topology. First, a framework is proposed to associate optimal topology of MAS to a constrained optimization problem with a complex Laplacian matrix, which is independent of the agent dynamics. The main contribution of the proposed approach compared with existing results is that the proposed approach does not require the calculation of the stabilizing matrix such that the closed‐loop system is asymptotically stable, and a unique set of complex weights that satisfy associated cooperative conditions can be chosen. Then, a distributed formation control protocol is proposed to enable all agents to achieve the control goal. Finally, some numerical example results are provided to demonstrate the effectiveness of the proposed scheme.

中文翻译：

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具有复杂权重的网络的多主体系统的最佳拓扑设计和分布式编队控制

在本文中，我们考虑具有复杂加权定向拓扑的多主体系统（MAS）的最佳拓扑设计和分布式编队控制问题。首先，提出了一个框架，以将MAS的最佳拓扑与具有复杂Laplacian矩阵的约束优化问题相关联，该矩阵独立于代理动力学。与现有结果相比，该方法的主要贡献在于，该方法不需要计算稳定矩阵，从而使闭环系统渐近稳定，并且可以满足满足相关合作条件的一组唯一的复数权重选择。然后，提出了一种分布式编队控制协议，以使所有代理都能实现控制目标。最后，