Large language models (LLMs) require model editing to efficiently update specific knowledge within them and avoid factual errors. Most model editing methods are solely designed for single-time use and lead to a significant forgetting effect after sequential edits over time, referred to as lifelong editing. Current approaches manage sequential edits by freezing original parameters and allocating new adapters for each knowledge modification. However, these methods lack robustness to minor input variations. To address this challenge, we propose ELDER, \textbf{E}nhancing \textbf{L}ifelong mo\textbf{D}el \textbf{E}diting with mixtu\textbf{R}e of Low-Rank Adapter (LoRA). ELDER is an adaptive approach that integrates multiple LoRAs through a router network. It learns to create a continuous and smooth association between data and adapters, thereby enhancing robustness and generalization to semantically equivalent inputs. Additionally, we introduce a novel loss to help learn associations between adapter allocations and edit semantics. A deferral mechanism is also proposed to retain the original LLM capabilities post-edit. Extensive experiments on GPT-2 XL and LLaMA2-7B demonstrate that ELDER effectively edits models in the lifelong setting and exhibits strong scalability, while retaining LLM's general abilities on downstream tasks.