Abstract
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.
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