Leader-following rendezvous and flocking for second-order nonlinear multi-agent systems

This paper studies the leader-following rendezvous and flocking problems with connectivity preservation for a class of second-order nonlinear multi-agent systems subject to both external disturbances and plant uncertainties. By combining the potential function method, the adaptive control technique and the distributed observer method, both the leader-following rendezvous and flocking problems are solved. Finally, one simulation example for a group of Van der Pol oscillators is given to illustrate our design.