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This article proposes an event-triggered disturbance rejection control scheme for a brain-actuated two-legged wheeled mobile robot (WMR) by using sliding mode approach. An eight-channel brain-computer interface system is developed to evoke five modes of the steady-state visual evoked potential, which are applied to control the WMR. In order to improve the speed tracking accuracy of the robot, a disturbance observer is integrated into the sliding mode controller design to actively compensate for unknown disturbances. Meanwhile, the energy usage of controlling robot is saved via introducing an event-triggering mechanism, which is designed via reachability of sliding mode. It is further shown that the tracking error can be driven into a neighborhood of the origin by the proposed sliding mode controller and event generator. The tradeoff between the convergence of sliding mode dynamics and the scheduling …