Multi-agent rendezvous 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 parameter uncertainties. In this paper, we will present a novel distributed internal model approach to study the leader-following rendezvous problem for double-integrator multi-agent systems subject to both external disturbances and parameter uncertainties. We first give some suitable distributed internal model to convert the rendezvous problem into the stabilization problem with connectivity preserving for its augmented system. Then we stabilize the corresponding augmented system via distributed state feedback control by defining a new potential function and performing the backstepping control technique. Comparing with some recent results, our design can handle a large class of reference signals, external disturbances, and plant uncertainties.