Event-triggered sliding mode-based tracking control for uncertain Euler-Lagrange systems

In this study, the authors present a robust trajectory tracking control for a class of uncertain Euler-Lagrange (EL) systems using event-triggered-based sliding mode strategy. Here, the sliding mode-based tracking control is designed to ensure the robust stability of EL systems in the presence of external disturbances/uncertainties. Unlike periodic implementation, in event-triggering strategy, the control signal is updated on demand subject to system stability, so the frequent periodic execution of control tasks is avoided. Here, the event-triggered implementation of the sliding mode-based tracking control achieves the robust stability with desired steady-state performance and reduced computations of control. To realise this, sufficient conditions are derived using Lyapunov analysis such that the proposed controller yields desired tracking performance. It is shown that the triggering condition proposed here ensures Zeno free execution of triggering sequence. Finally, the theoretical development of the study is illustrated through numerical simulation on a two-link robotic manipulator