Abstract: This paper studies flocking motion with time varying delay under hierarchical leadership. The paper derives the motion of all agents which can achieve the flocking when time approaches infinity under hierarchical leadership in some condition, even the system with time varying delay. Finally, several simulation examples are provided to show the effectiveness of the theoretical results.

Key words: flocking, time varying delay, hierarchical leadership

摘要： 主要研究了等级制度下带有时变时滞的群集运动。证明了在一定条件的等级制度下，当时间趋于无穷大时，智能体之间即使存在着时变的通信时滞，也能达到群集运动。最后，用数值仿真的例子来证明结论的有效性。

关键词: 群集运动, 时变时滞, 等级制度