Distributed Collaborative Control Of Multi-agent Systems With Time Delays

In recent years,the multi-agent systems have been widely used in many engineering fields,such as unmanned aerial vehicles,flocking,sensor networks,environmental monitoring,formation control,etc.Distributed cooperative control of multi-agent systems have received much attention for its broad applications in complex systems and science network.Generally,the cooperative control problem is divided into leaderless consensus,single-leader consensus and multi-leader consensus,according to the number of leaders.The control of multi-leader systems is also called containment control.It executes the consistency control protocol between neighboring agents,to make the state of all agents asymptotically reach the convex formed by leaders.This paper mainly forms the following aspects.In chapter 3,the distributed cooperative control problem of multi-agent systems is investigated for the multi-agent systems of leaders having zero input and followers just receive information from neighbors.Distributed observers and controllers for followers are designed to reduce impact from time-delay according to the type of communication time-delay.Then,the stability of system is analyzed by Lyapunov-Krasovskii function,and sufficient conditions are given for the system to achieve conformance containment control.Finally,a simulation example is used to illustrate the correctness of the theory.In chapter 4,the distributed cooperative control problem of multi-agent systems with linear exogenous disturbances and state-time-delay is investigated for the multi-agent systems of leaders having zero input and followers just receive information from neighbors.Distributed observers and controllers for followers are constructed to reduce impact from time-delay.Then,the stability of system is analyzed by Lyapunov-Krasovskii function.Finally,an example is given to prove the correctness of the theory by Simulink software.The chapter 5 is based on chapter 4,the multi-agent systems with linear exogenous disturbances and input-time-delay is investigated for the multi-agent systems of leaders.The agents have zero input and just receive information from neighbors.Distributed observers and controllers for followers are constructed based on the assumptions and Lemmas.Then,a suitable Lyapunov-Krasovskii function is structured to analyze the stability of system.Finally,an example is given to account for the effectiveness of the theory by Simulink software.