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

摘要

Abstract 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.