Hou, YunYu, Changbin(Brad)2021-10-261049-8923http://hdl.handle.net/1885/251198In this paper, we focus on the control of multiagent formations with hybrid communication topology through a distance-based approach. By saying hybrid topology, we mean that the communication topology contains both undirected and directed links, or the underlying graph of the formation contains both undirected and directed edges. A new type of graph, ie, hybrid graph, is introduced. We discuss the persistence of hybrid graphs and present the persistence verification strategy for hybrid graphs. It is proved that all the minimally persistent hybrid graphs can be obtained from persistent directed graphs by the operation of edge transformation. As the main result, it is shown that multiagent formations modeled by acyclic persistent hybrid graphs can be stabilized locally under distance-based controllers.Australian Research Council's Discovery Project, Grant/Award Number: DP130103610 and DP160104500; Westlake Education Foundation; National Natural Science Foundation of China, Grant/Award Number: 61385702application/pdfen-AUCopyright © 2017 John Wiley & Sons, Ltd.distance-based controlgraph persistencegraph topology201810.1002/rnc.39092020-11-23