Adaptive Event-triggered Control of a Class of Series Elastic Actuator System

In this paper, the event-triggered adaptive control for a class of series elastic actuator systems is considered. To solve this problem, firstly we propose an adaptive control scheme with a novel one-step design framework such that both the controller expression and parameter estimator are much simpler than related existing recursive design approaches. Then a set of event-triggering conditions is designed which is updated for each triggering. The ISS assumption is not needed for control design. It is shown that the proposed control schemes guarantee that all the closed-loop signals are semi-globally bounded and the stabilization error converges to the origin asymptotically. The zeno behavior is avoided. Simulation results illustrate the effectiveness of our scheme.