Event-triggered interval observer design for a class of Euler-Lagrange systems with disturbances

Abstract

This paper investigates the problem of interval estimation for a class of Euler-Lagrange systems with unknown disturbances. An event-triggered mechanism is applied in the design of interval observers, and unnecessary data communication burden is reduced. The sufficient conditions are derived by both the positive system theory and the Lyapunov stability theory. Moreover, the gains of observer are determined by solving a set of inequalities in the sufficient conditions. At last, the validity of the presented event-triggered interval observers is demonstrated by a numerical simulation.