Robust formation control under state constraints of multi-agent systems in clustered networks

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.