Event-Triggered Adaptive Control for Networked Euler-Lagrange Systems with External Disturbances.

This paper designs an adaptive controller based on event-triggered strategy for network Euler-Lagrange systems with external disturbances. A novel triggering condition including the adaptive estimate parameter is constructed to facilitate the adjustment of the trigger frequency. Both the communication frequency between the controller and actuator and the communication frequency among subsystems are reduced. Finally, simulation results are given to illustrate the effectiveness of the proposed control law.