Abstract
This paper studies the leader-following rendezvous with connectivity preservation problem for a group of second-order nonlinear multi-agent systems containing uncertain parameters and subject to external disturbances. The problem is first converted to a robust stabilization problem with connectivity preservation for an augmented system with parametric uncertainty and external disturbances via a distributed internal model. Then the problem is solved by combining the robust control technique and a new potential function. The result includes the same problem for multiple double integrator systems as a special case.
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