具有时变通信延迟的多智能体系统改进蜂拥控制

针对不确定非线性二阶多智能体系统中存在的时变通信时延和未知干扰问题，提出了一种鲁棒自适应蜂拥控制规律。为了使二阶多智能体系统能够具有更好的抗干扰能力，设计了基于智能体位置状态信息和速度状态信息的鲁棒自适应算子，实现了系统在时变通信时延扰动下的分布控制。通过使用Lyapunov-Krasovskii方法构造能量函数，证明了多智能体系统的网络连通性，智能体的速度收敛于虚拟领导者的速度，并给出了具有时变通信时延的多智能体系统收敛条件。仿真实验结果表明，在不同干扰强度和不同通信时延下系统均能实现快速收敛，形成稳定的拓扑结构，证明所提方法正确有效。

An improved flocking control for multi-agent systemwith time-varying communication delay

Aiming at the time-varying communication delay and unknown interference problems in uncertain nonlinear second-order multi-agent systems, this paper proposes a robust adaptive flocking control law. In order to make the second-order multi-agent systems have better anti-interference ability, this paper designs a robust adaptive operator based on the statement information of agent's position and speed, and realizes the system under the time-varying communication delay disturbance. By using the Lyapunov-Krasovskii method to construct the energy function, the network connectivity of the multi- agent system is proved, the speed of the agent converges to the speed of the virtual leader, and the convergence condition of the multi-agent system with time-varying communication delay is given. The simulation experiment results showthat the multi-agent system can achieve rapid convergence and form a stable topology under different interference intensities and communication delays, which proves that the proposed method is correct and effective.