Event-Triggered Dynamic Gains for Practical Prescribed-Time Tracking in Euler-Lagrange Systems

In this article, we aim to achieve practical prescribed-time tracking control for Euler-Lagrange systems (ELSs) with event-triggered dynamic gains. We integrate event-triggered mechanisms into the configuration of time-varying gains, enabling these gains to continue increasing beyond the prescribed timeframe when specific triggering conditions are satisfied. As a result, tracking errors converge into a prescribed neighborhood of zero within a finite time, rather than a broader neighborhood influenced by external disturbance amplitudes. Furthermore, when ELS encounter unexpected external disturbances, the event-triggered dynamic gains can swiftly minimize tracking errors back to the prescribed neighborhood of zero. It is rigorously demonstrated that these dynamic gains and all internal signals within the closed-loop ELS are bounded over the global time interval. Numerical simulations and real-robot experiments illustrate the effectiveness and innovation of the proposed algorithm.