Adaptive Tracking Control of Euler-Lagrange Systems with Time-Varying State and Input Constraints
Abstract
This paper presents an adaptive control framework for Euler-Lagrange (E-L) systems that enforces user-defined time-varying state and input constraints in the presence of parametric uncertainties and bounded disturbances. The proposed design integrates a time-varying barrier Lyapunov Function (TVBLF) with a saturated control law to guarantee constraint satisfaction without resorting to real-time optimization. A key contribution is the development of an offline, verifiable feasibility condition that certifies the existence of a feasible control policy for any prescribed pair of time-varying state and input envelopes. Additionally, we prove boundedness of all closed-loop signals. Real-time experiments conducted on a 2-DoF helicopter model validate the efficacy and practical viability of the proposed method.
Cite
@article{arxiv.2603.08307,
title = {Adaptive Tracking Control of Euler-Lagrange Systems with Time-Varying State and Input Constraints},
author = {Poulomee Ghosh and Shubhendu Bhasin},
journal= {arXiv preprint arXiv:2603.08307},
year = {2026}
}