A novel adaptive flocking algorithm for multi-agents system with time delay and nonlinear dynamics

In this paper, flocking problem of multi-agents with time delay is investigated. All agents of the system are governed by a nonlinear intrinsic dynamics. An adaptive flocking algorithm for multi-agents system with time delay and nonlinear dynamics is proposed. It is proved that the distance between agents can be larger than a constant during the motion evolution by using the flocking algorithm. Moreover all agents' velocities asymptotically tend to the same. The simulation results verify the effectiveness of the proposed scheme.