Improving Synchronization Performance of Multiple Euler-Lagrange Systems Using Nonsingular Terminal Sliding Mode Control With Fuzzy Logic

A distributed control policy is designed for a group of Euler-Lagrange (EL) agents in a leader-follower-based communication network with time-varying delays. The nonsingular terminal sliding mode control (NTSMC) policy is integrated with mixed-type feedback and time-varying, adaptive control parameters. The control gain and proportions of feedback with and without estimated self-delays are tuned online with fuzzy logic control (FLC). The total and maximum tracking errors of a group of EL agents are assessed to demonstrate an improvement in synchronization performance with the proposed NTSMC+FLC approach compared to the NTSMC approach with constant parameters. Simulation and experimental results of a group of Phantom Omni manipulators are presented to validate the proposed control policy.

Automated summary

This article presents a distributed control policy for Euler-Lagrange agents in a leader-follower-based communication network with time-varying delays. The policy integrates nonsingular terminal sliding mode control with mixed-type feedback and time-varying adaptive control parameters, and the control gain and proportions of feedback are adjusted online using fuzzy logic control. The proposed NTSMC+FLC approach improves synchronization performance compared to the NTSMC approach with constant parameters, as demonstrated by the assessment of total and maximum tracking errors of the agents.