Not directly that I know of. If you really need access from anywhere and want to use Tasker, the link below that fiSh posted (
http://itnerd.space/2017/02/26/control-your-tp-link-hs100-smartplug-with-tasker/) does give a method but if you are not well-in tasker you may find it tedious involving several steps, including authenticating to the TP-Link cloud API to get a token and get your specific end point URL and the device ID of what you are trying to control. It works as I have done it, but with this caveat: every so often - randomly - TP-Link will refresh the token, which leaves you dead in the water until you sync back up. Not the most practical solution. The workaround would be to use the Kasa app directly from anywhere. Manual, but if you aren't toggling it a lot it works I guess.
If you only need to control it WHILE you are connected to the same wifi it's on, then what I use is Anymote Smart remote, as it can control TP-link, wink, lifx, etc devices and it works quite reliably thru tasker as a plugin.