Event-based adaptive sliding mode control for Euler–Lagrange systems with parameter uncertainties and external disturbances

This article studies the robust tracking control problem for a class of uncertain Euler–Lagrange systems. An adaptive sliding mode control strategy is proposed to address the robust stability of the closed-loop systems with external disturbances and parameter uncertainties. An adaptive parameter estimator is constructed in the sensor node to deal with the unknown bound of uncertainties, and an event-triggering detector is located between the sensor node and the controller node. The introduction of event-triggering condition is introduced, reducing the utilization on communication resources and the number of control execution. In this event-triggered strategy, the closed-loop systems reach the practical sliding mode band and the band could be adjusted. Moreover, the event-triggering condition can make sure that Zeno behavior does not occur. Finally, simulation results on 2-link robotic manipulator are provided to illustrate the effectiveness and feasibility of the proposed control scheme.