Event-Triggered Exponential Practical Tracking for Uncertain Euler-Lagrange Systems

In this paper, we consider the event-triggered exponential practical tracking problem for uncertain Euler-Lagrange systems. By using a modified adaptive control technique, we design a digitally implementable control law and a Zeno-free event-triggered mechanism to solve the problem. Both the position tracking error and the velocity tracking error are guaranteed to exponentially converge to an arbitrarily small prescribed neighborhood of the origin, and the convergence rate can be made arbitrarily fast.