Cooperative Control for Stochastic Upper-Triangular Nonlinear Systems with Time-Varying Delay

Abstract

This paper studies cooperative control problem for upper-triangular nonlinear multi-agent systems (MASs) with time delay. We first introduce a coordinate transformation so that we get a MASs with a low-gain. Then, we build a distributed controller for nominal system of the MASs with a low-gain. With the help of the distributed controller, we choose the appropriate Lyapunov function and use stochastic analysis tool to solve the control problem.