Leader-following rendezvous with connectivity preservation and disturbance rejection via internal model approach

Most of the recent results on the leader-following rendezvous problem focus only on the deterministic multi-agent systems without external disturbances and plant uncertainties. In this paper, we will present a novel distributed internal model approach to further study the leader-following rendezvous problem for double-integrator multi-agent systems subject to both external disturbances and plant uncertainties. We provide both the distributed full state feedback control and the distributed partial state feedback control without velocity measurement. In both control schemes, we will give the suitable distributed internal model to convert the rendezvous problem into the stabilization problem with connectivity preserving for their augmented systems. We stabilize the corresponding augmented systems by the high gain feedback control based on a new potential function. Comparing with some recent results, our design can handle a large class of reference signals, external disturbances, and plant uncertainties.