A dynamical model for autonomous mobile intelligent robots is presented. Based on the local information of the swarm, a fuzzy logical controller (FLC) of the attraction/ repulsion function is built. Combining with the rate consensus algorithm, the swarming of the separation, cohesion and alignment is achieved. Based on the optimal controller theories, a performance target is used to measure the states of the system. By applying the connected network from the individual local perceived information, the aggregation of the multi-agent systems can swarm following a whole consensus in the computer simulation.