Cooperative control of multi-agent systems with time-delays

[ACCESS RESTRICTED TO THE UNIVERSITY OF MISSOURI AT AUTHOR'S REQUEST.] In this dissertation, we designed two cooperative control algorithms for multi-agent systems with time-delays. The first one is Robust Sliding-Mode Cooperative Control for Multiple Time-Delay Systems with Model Uncertainties and Disturbance, in which, it designed a sliding mode cooperative control law for a general time-delay system with model uncertainty and external disturbance. For the delay-independent system, a sliding surface is constructed and a feasible solution to the LMI based on the Lyapunov stability theory is derived. The model uncertainty term is included in the control design by using a matrix factorization method. The second one is Cooperative Control for Multiple Agents with Time Varying Delay and Model Uncertainties, in which, it designed a cooperative control law for distributed multiple agents to follow a leader consensually under time-varying delay and model uncertainties. Comparing with the first control law design, our first promotion is to design a consensus control law for leader followers under time delay dependent case, which releases the two constraint conditions, which are the flaws in previous works. Our second promotion is that we take the time varying delay into consideration. In addition to the theoretical study, we also did experiment test of the cooperative control algorithms on Quadrotor-UAVs. We tested the system stability and the time-delay effects on systems. The results proved the validity of the designed control algorithms.