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The goal is to control all multi\u2010agents to enter the constraint area while reaching formation. Each agent is constrained by a common convex set. A formation control law is presented based on local information of the neighborhood. It is proved that the positions of all the agents would converge to the set constraint while reaching formation. Finally, two numerical examples are presented to illustrate the validity of the theoretical results.<\/jats:p>","DOI":"10.1155\/2019\/8481060","type":"journal-article","created":{"date-parts":[[2019,12,4]],"date-time":"2019-12-04T23:34:59Z","timestamp":1575502499000},"update-policy":"https:\/\/doi.org\/10.1002\/crossmark_policy","source":"Crossref","is-referenced-by-count":7,"title":["Formation Control of Multi\u2010Agent Systems with Region Constraint"],"prefix":"10.1155","volume":"2019","author":[{"ORCID":"https:\/\/orcid.org\/0000-0003-0846-9674","authenticated-orcid":false,"given":"Zhengquan","family":"Yang","sequence":"first","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0003-3941-4764","authenticated-orcid":false,"given":"Qing","family":"Zhang","sequence":"additional","affiliation":[]},{"ORCID":"https:\/\/orcid.org\/0000-0002-1415-4073","authenticated-orcid":false,"given":"Zengqiang","family":"Chen","sequence":"additional","affiliation":[]}],"member":"311","published-online":{"date-parts":[[2019,12,4]]},"reference":[{"key":"e_1_2_9_1_2","doi-asserted-by":"crossref","unstructured":"ChenY. 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