Abstract: 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 show that 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.

Key words: multi-agent system, flocking control, communication time delay, nonlinear system；robust adaptive control