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

被引：20

作者：

Wan, Lucas ^{[1
]}

Pan, Ya-Jun ^{[1
]}

Shen, Henghua ^{[2
]}

机构：

[1] Dalhousie Univ, Dept Mech Engn, Halifax, NS B3H 4R2, Canada

[2] Concordia Univ, Dept Mech Ind & Aerosp Engn, Montreal, PQ H3G 1M8, Canada

来源：

IEEE-ASME TRANSACTIONS ON MECHATRONICS | 2022年 / 27卷 / 04期

基金：

加拿大自然科学与工程研究理事会;

关键词：

Delays; Sliding mode control; Mechatronics; IEEE transactions; Fuzzy logic; Synchronization; Uncertainty; Fuzzy logic control (FLC); nonsingular terminal sliding mode control (NTSMC); nonlinear multiagent systems; synchronization; time-varying communication delay; CONSENSUS;

D O I：

10.1109/TMECH.2021.3104504

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

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.

引用

页码：2312 / 2321

页数：10

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