Event-triggered control based on interval observer for Euler-Lagrange systems

This paper deals with event-triggered control based on interval observer for Euler-Lagrange systems (ELSs) with unknown disturbance and nonlinear term. The state-space description is given for ELSs, and a basic interval observer is designed by using the method of coordinate transformation at first. Meanwhile, the existence condition of the interval observer is formulated by the form of linear matrix inequality. Afterwards, based on the proposed interval observer, an event-triggered controller is constructed to ensure the ultimate boundedness of the system. Furthermore, the design condition can also be verified by the linear matrix inequality toolbox. Finally, the effectiveness of the obtained results is demonstrated by a 2-DOF manipulator model.