Adaptive Fuzzy-Sliding Consensus Control for Euler–Lagrange Systems with Time-Varying Delays

This paper presents an adaptive fuzzy sliding-mode controller for multiple Euler–Lagrange systems communicated with directed topology. Based on the graph theory and Lyapunov–Krasovskii functions, a delay-dependent sufficient condition for the existence of sliding surfaces is given in terms of linear...

Full description

Saved in:
Bibliographic Details
Published inComplexity (New York, N.Y.) Vol. 2022; no. 1
Main Authors Chang, Yeong-Hwa, Yang, Cheng-Yuan, Lin, Hung-Wei
Format Journal Article
LanguageEnglish
Published Hoboken Hindawi 2022
John Wiley & Sons, Inc
Wiley
Subjects
Actuators
Adaptive control
Analysis
Asymptotic methods
Asymptotic properties
Communication
Controllers
Fuzzy control
Fuzzy logic
Graph theory
Linear matrix inequalities
Mathematical analysis
Sliding mode control
Stability analysis
Time varying control
Topology
Online AccessGet full text
ISSN1076-2787
1099-0526
DOI10.1155/2022/9914940

Cover

More Information
Summary:This paper presents an adaptive fuzzy sliding-mode controller for multiple Euler–Lagrange systems communicated with directed topology. Based on the graph theory and Lyapunov–Krasovskii functions, a delay-dependent sufficient condition for the existence of sliding surfaces is given in terms of linear matrix inequalities. The asymptotic stability is analyzed by using the Lyapunov method in the presence of unknown parametric dynamics, actuator faults, and time-varying delays. The usage of adaptive techniques is to adapt the unknown parameters so that the objective of globally asymptotic stability is achieved. Finally, simulation results are provided to illustrate the effectiveness of the proposed control scheme.
Bibliography:ObjectType-Article-1
SourceType-Scholarly Journals-1
ObjectType-Feature-2
content type line 14
ISSN:1076-2787
1099-0526
DOI:10.1155/2022/9914940