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.

中文翻译：

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控制方向未知的多个Euler-Lagrange系统的自适应模糊有限时间共识跟踪

本文研究了具有不确定动力学和未知控制方向（UCDs）的多个Euler-Lagrange系统（ELS）的自适应模糊有限时间共识跟踪控制问题。通过使用有限时间指令滤波器（FTCF）避免了传统反步法中的计算复杂性问题，并且通过误差补偿信号消除了滤波过程中的误差。将模糊逻辑系统与自适应控制技术相结合，用于估计和估计ELS的未知非线性动力学。建立了基于Nussbaum函数的连续且不平滑的输入控制转矩，以消除UCD的影响，并且所提出的控制方案可以确保共识跟踪误差在有限时间内收敛到所需的原点邻域。