This article proposes a novel and robust connectivity-preserving rendezvous control design for a group of uncertain nonlinear multiagent systems with communication constraint where each agent has a limited sensing range. The control design can work under the assumption that the communication network is initially connected and is characterized by two distinguishing features. First, a new potential function is provided not only to maintain the existing and newly added links by the hysteresis rule but also to overcome the difficulty imposed by the nonlinear terms from system dynamics. Second, by constructing a series of lemmas, a connectivity-preserving stabilizing control law is presented to solve the robust stabilization problem with connectivity preservation for a time-varying nonlinear system, which is a special case of the augmented system with both dynamic and static uncertainties obtained via internal model design. After further incorporating the adaptive control technique, regardless of uncertain parameters and external disturbances in the multiple nonlinear subsystems, the leader-following rendezvous with connectivity preservation problem is finally solved by a distributed connectivity-preserving controller with parameter update law.

中文翻译：

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网络不确定非线性系统交会问题的新型连通性保持控制设计。

本文针对一组具有通信约束的不确定非线性多智能体系统提出了一种新颖且鲁棒的，保持连通性的会合控制设计，其中每个智能体的感应范围均受限。控制设计可以在通信网络最初已连接且具有两个明显特征的前提下工作。首先，提供了新的势函数，不仅可以通过滞后规则来维护现有链接和新添加的链接，而且还可以克服系统动力学中的非线性项带来的困难。其次，通过构造一系列引理，提出了一种保持连通性的稳定控制律，以解决时变非线性系统的保持连通性的鲁棒镇定问题，这是通过内部模型设计获得的具有动态和静态不确定性的增强系统的特例。进一步结合自适应控制技术后，无论参数不确定性如何，也不受多个非线性子系统的外部干扰，最终通过具有参数更新定律的分布式连通性保持控制器解决了连通性保持不变的先导跟随集合问题。