Leader-following rendezvous with connectivity preservation of single-integrator multi-agent systems

What is it about?

This paper studies the problem of leader-following rendezvous with connectivity preservation for a linear multi- agent system where the leader system is a linear autonomous system and the follower system is a multiple single-integrator system. We develop a distributed state feedback control protocol to maintain the connectivity of the system and, at the same time, to achieve asymptotic tracking of all followers to the output of the leader system.

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Why is it important?

Maintaining connectivity in a multi-agent system is necessary in such problems as rendezvous, flocking, swarming and so on. This paper provides a useful method to maintain connectivity of the network and achieve asymptotic tracking at the same time.