Adaptive fuzzy finite-time consensus tracking for multiple Euler-Lagrange systems with unknown control directions

摘要

In this paper, the problem of adaptive fuzzy finite-time consensus tracking control for multiple Euler-Lagrange systems (ELSs) with uncertain dynamics and unknown control directions (UCDs) is investigated. The computational complexity problem in conventional backstepping is avoided by using finite-time command filter (FTCF), and the error in the filtering process is eliminated through error compensation signals. The fuzzy logic system combined with the adaptive control technique is applied to approximate and estimate the unknown nonlinear dynamics of ELS. The Nussbaum function-based continuous and nonsmooth input control torque is established to eliminate the influence of UCDs, and the proposed control scheme can guarantee the consensus tracking errors converge to the desired neighborhood of the origin within a finite time. Numerical simulation is used to test the effectiveness of the given algorithm.