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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2505.22352 |
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| _version_ | 1866916764468641792 |
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| author | Ghosh, Poulomee Bhasin, Shubhendu |
| author_facet | Ghosh, Poulomee Bhasin, Shubhendu |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2505_22352 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | State and Input Constrained Adaptive Tracking Control of Uncertain Euler-Lagrange Systems with Robustness and Feasibility Analysis Ghosh, Poulomee Bhasin, Shubhendu Systems and Control 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. |
| title | State and Input Constrained Adaptive Tracking Control of Uncertain Euler-Lagrange Systems with Robustness and Feasibility Analysis |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2505.22352 |