考虑到多移动智能体编队控制中的时变时滞问题,在所设计的编队框架下,基于一致性算法设计了具有不对称时变时滞的分布式编队控制律.该控制律仅使用全局速度导引信息和邻居状态反馈信息；在固定通信拓扑条件下,推导了具有时变时滞的闭环系统状态方程,应用改进的自由权矩阵方法获得了保守性更小的系统稳定条件,并在时变通信拓扑条件下,将拓扑变化处理为系统结构的不确定性,同样获得了时变通信拓扑下的系统稳定条件；进行了6个智能体在平面内编队运动的仿真,实例证明,理论结果是正确的.%In consideration of the time-varying delay problem in the formation control of multiple mobile agents, we will first examine this area in the study. The defined formation framework, a decentralized formation control law with asymmetric time-varying delay is designed based on a consensus algorithm, which only uses the global velocity guidance and neighbor state feedback information systems. Secondly, under a fixed communication topology condition , the closed-loop system state equation with time-varying delay is induced and a less conservative stability condition of the system is obtained using the improved method of free-weight matrix. Further, under the time-varying communication topology condition, stability condition of the system is also obtained by processing topology's variation as a structured model uncertainty. Finally, a simulation example of six agents'formation movement in-plane proves the accuracy of the theory.
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