With the boom of technology, Internet, and Artificial Intelligent the demands on the variety of products increase with a shorter life-cycle resulting from smart and autonomous factories. The objective of Industry 4.0 is to upgrade the industrial production process nowadays leading to the next stage with better machine utilization and faster throughput times.

In order to enhance and accomplish the development of flexible and scalable manufacturing for the foreseeable future of Industry 4.0 with advanced technology and configurations, the ultimate goal of this dissertation is to develop and design advanced control frameworks and algorithms for a network of multiple robots under cyber-physical systems. The control problems, e.g. cooperative, human-in-the-loop, leader-follower, and resilient controls are studied for networked robotic systems to achieve various missions in industry.

The first topic addressed in this dissertation is cooperative control that is utilized for networked robotic systems to achieve predefined tasks in manufacturing such as object transporting or assembling. In addition, a novel task-space synchronization control is studied with a triggering condition for the network under time-varying communication delays, to improve cooperative quality while reducing network burden. Lyapunov technique is utilized to prove that the proposed control algorithm is stable and guarantees the finite-time convergence of tracking errors to adjustable compact sets with the avoidance of Zeno behavior. Then, to exploit the advantage of complementary capabilities of humans and networked robots, the second research topic is devoted to studying human-robot interaction control algorithms. Two control frameworks have been proposed in this dissertation for a human operator to remotely interact with multiple robots under undirected and directed graphs. The proposed control algorithms utilize the efficiency of teleoperation systems, thereby enhance the performance of the networked systems in case of incomplete information about the environment.

Several crucial and unavoidable problems of networked systems, e.g., limited bandwidth, communication delay, and switching connection, are further studied in the third research topic, leader-follower control. The study provides alternative solutions for the cooperation and human-robot interaction control algorithms in unreliable connection networks.
Although networks of multi-robot systems have compelling advantages for the future industry, they are vulnerable to faults and prone to cyber attacks, which can interrupt or damage the systems. Therefore, the last not least research topic, resilient control, several control schemes have been studied for guaranteeing acceptable performance of a networked system under denial-of-service attacks, faulty robots, and faulty actuators.

This dissertation takes the advantage of cyber-physical systems and networks of multiple robots to accomplish requirements and visions of the robotic systems in flexibility, scalability, interactivity, expansibility, and also security for the future of manufacturing in Industry 4.0.

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