Robust cooperative control for micro/nano scale systems subject to time-varying delay and structured uncertainties

In this study, a robust cooperative control methodology is proposed for a class of micro/nano scale systems in the field of biomedical engineering. Due to the complexity of actual environment, the dynamic behavior of the micro/nano scale systems changes over time. The time-varying uncertainties are considered to be restricted to a certain range. Then, a robust cooperative control strategy is designed such that the micro-agents with structured uncertainties can securely cooperative with each other to accomplish the tasks. Furthermore, sufficient conditions ensuring the cooperativity of micro/nano scale systems are derived by constructing a novel Lyapunov functional. It is proved that the cooperative control problem for micro/nano scale systems can be solved if the control parameters are appropriately selected. A simulation example is presented to demonstrate the validity of the obtained algorithm.