State and Input Constrained Adaptive Tracking Control of Uncertain Euler-Lagrange Systems with Robustness and Feasibility Analysis
Abstract
This paper proposes an adaptive tracking controller for uncertain Euler-Lagrange (E-L) systems with user-defined state and input constraints in presence of bounded external disturbances. A barrier Lyapunov function (BLF) is employed for state constraint satisfaction, integrated with a saturated controller that ensures the control input remains within pre-specified bounds. To the best of the authors' knowledge, this is the first result on tracking control of state and input-constrained uncertain E-L systems that provides verifiable conditions for the existence of a feasible control policy. The efficacy of the proposed controller in terms of constraint satisfaction and tracking performance is demonstrated through simulation on a robotic manipulator system.
Cite
@article{arxiv.2505.22352,
title = {State and Input Constrained Adaptive Tracking Control of Uncertain Euler-Lagrange Systems with Robustness and Feasibility Analysis},
author = {Poulomee Ghosh and Shubhendu Bhasin},
journal= {arXiv preprint arXiv:2505.22352},
year = {2025}
}
Comments
arXiv admin note: text overlap with arXiv:2212.08495