Flocking Of Multi-agent Systems With Communication Delay

Flocking of organisms is a very common phenomenon in real environment such as birds flying in the sky,fish swimming in the lake,ants searching for food on the ground,and colonies,etc.From movement characteristics of these organisms it can be found that,their movement speed finally tends to be consistent over time and the distance between each individual gradually remains stable.However,flocking of multi-agents means that a group composed of many agents will interact with each other and finally reach a consistent movement state with the change of time through local information and mutual influence.Cucker-Smale model was proposed by Cucker and Smale in 2007.The convergence proof is given according to the initial motion state of the agent and the system parameters.But in reality the environment is often complex and random.Considering the impact of environment and the fact that it can merely influence other agents at a limited speed and the interaction between agents cannot be generated immediately,that is to say,there is usually a time delay.The thesis studies flocking of multi-agent systems with communication delay.The main research contents are summarized as follows:Chapter 3 studies the flocking of Cucker-Smale model with communication delay.The theory of quadratic function is used to prove that the system can still realize flocking when the communication delay between agents under certain conditions.Finally,Matlab simulation results of Cucker-Smale model with communication time delay are given and it is found that when other system parameters remain unchanged,if the coupling coefficient ? is smaller,the communication time delay that the system can tolerate can be larger.Chapter 4 studies the flocking of Cucker-Smale model with communication delay and noise.The noise intensity of an agent can be divided into two categories: first,the noise intensity of each agent may be different with the influence of its neighbors;second,each agent is affected by its neighbors and the noise intensity is the same.By using the properties of stochastic differential equation and quadratic function,this chapter proves that the system can still achieve flocking under certain conditions of communication delay and noise intensity between agents.The correctness of the theory is showed by the numerical simulation with Matlab.