.../methodology/approach A Luenberger-type boundary observer is designed via swapping transformations integrated with a least-squares parameter adaptation law using boundary measurements. An event-triggered boundary controller is developed relying solely on boundary states from neighboring agents and the agent’s...

.... Design/methodology/approach This study introduces disturbance observer and disturbance rejection mechanism into the boundary control design for flexible Timoshenko robot arm systems. The uniform bounded stability of controlled systems is proved via Lyapunov analysis without any simplification...