Leader-following rendezvous for single-integrator multi-agent systems with uncertain leader

摘要

This paper investigates a nonlinear internal model approach for the leader-following rendezvous problem for a class of single-integrator multi-agent systems subject to an uncertain leader. The problem is first converted into an auxiliary cooperative stabilization with connectivity preservation problem. The latter problem is then solved by a potential function based high-gain feedback control. The theoretical result is also illustrated by a simulation example.