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

Authors: Mingyi Zhang; Jun Huang; Junchao Zhang

Addresses: School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215137, China ' School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215137, China; Key Laboratory of System Control and Information Processing, Ministry of Education, Shanghai Jiao Tong University, Shanghai, 200240, China ' School of Mechanical and Electrical Engineering, Soochow University, Suzhou, 215137, China

Abstract: 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.

Keywords: interval observers; ELSs; Euler-Lagrange systems; event-triggered controller; state estimation; feedback control.

DOI: 10.1504/IJSCIP.2026.154739

International Journal of System Control and Information Processing, 2026 Vol.5 No.1, pp.1 - 15

Received: 11 Sep 2024
Accepted: 27 Mar 2025
Published online: 12 Jul 2026 *

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