针对具有领航者的多个智能体的有向网络拓扑的一致性问题,同时考虑网络存在通信时间延迟的情形,提出线性控制器,保证所有智能体的状态能够渐近跟踪领航者的状态。基于Lyapunov泛函,通过引入自由权矩阵的方法,得到关于时滞依赖的严格线性矩阵不等式(LMI)的充分条件,减少了结论的保守性,同时得到能允许的最大时滞上界。最后给出仿真验证设计方案的有效性。 Aiming at the consistency of the directed network topology with multiple agents of the pilot and considering the delay of communication time in the network, a linear controller is proposed to ensure the state of all the agents can be asymptotically tracked by the pilot. Based on the Lyapunov functional, the sufficient condition of strict linear matrix inequalities (LMI) for delay dependence is obtained by introducing the free weight matrix, which reduces the conservativeness of the conclusion and obtains the maximum allowable upper bound of delay. Finally, the effectiveness of simulation verification design is given.