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Multi-agent rendezvous with nonlinear leader

In this paper, we investigate the leader-following rendezvous with connective preservation problem for a class of single-integrator multi-agent systems subject to a nonlinear leader system. A class of distributed nonlinear internal model is established and the equivalent cooperative stabilization problem is solved by a potential function based nonlinear distributed controller. It is interesting that this nonlinear stabilizer has the ability of maintaining the network connectivity. The theoretical result is also illustrated by a simulation example.