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This paper proposes an event-triggered sliding mode control (SMC) schemecombined with a backstepping algorithm for control of 2-DOF humanoid'slower-limb powered by Series elastic actuator (SEA). First, the modellingprocess for the lower-limb system is implemented by using the Euler-Lagrangetheory. With the obtained dynamical equations of lower-limb, the model of theSEA is achieved in both mechanical and electrical perspectives. Then, theevent-triggered SMC approach is utilized to ensure the system's stability andeliminate the effect of bounded external disturbance. Next, some assumptionsand designed thresholds for the tracking error are given, together with theproof for the convergence of the inter-event time. The backstepping algorithmis applied in the end to determine the needed input control voltage signal.Finally, the results of this research are demonstrated through some simulationsin order to prove the effi-ciency and appropriation of this method.

Application of Event-Triggered Sliding Mode Control of 2-DOF Humanoid's Lower-Limb Powered by Series Elastic Actuator