中文摘要：

模拟自然界蜂拥现象的蜂拥控制是多智能体协同控制中的一个重要问题。针对带有未知参数的复杂多智能体系统研究其蜂拥控制策略,并且考虑了蜂拥过程中存在通讯时变时延的情况。采用参数自适应控制方法,给出了带有未知参数和通讯时延的多智能体系统分布式自适应控制器;依据代数图知识和Lyapunov定理,对建立的多智能体分布式控制系统进行了稳定性分析。理论分析结果表明,在分布式自适应控制作用下,带有未知参数和通讯时延的多智能体系统能够很好地达到蜂拥状态;数值仿真结果也验证了该蜂拥控制算法的有效性。

英文摘要：

Flocking control, which simulates the flocking phenomenon in the natural world, is an important research topic in the multi-agent system coordinate control. Flocking control strategies were studied that investigated the complex multi-agent systems including unknown parameters and communication delays during the flocking process. By utilizing parameter estimation in an adaptive control method, a distributed adaptive controller was proposed for the multi-agent system with unknown parameters and commtmication delays. Based on algebraic graph knowledge and the Lyapunov theo- rem, the stability analysis was given for the multi-agent distributed control system. The theoretical analysis results show that the flocking states were obtained for the multi-agent system with unknown parameters and communication delays. Finally, the numerical simulation results also verified the effectiveness of the proposed flocking control scheme.