Design of dynamic event-triggered controller based on interval observer for Euler-Lagrange systems

This paper investigates an interval observer-based dynamic event-triggered control scheme for Euler-Lagrange systems with disturbances and unknown nonlinear terms. First, state reconstruction for Euler-Lagrange systems is conducted, and an interval observer is designed through coordinate transformation. Then, a dynamic event-triggered controller is constructed to ensure the ultimate boundedness of the system while avoiding Zeno behavior. Finally, the effectiveness of the proposed interval observer and controller is demonstrated using a 2-DOF manipulator model.