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 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.