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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2026
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2603.08307 |
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| _version_ | 1866912955297169408 |
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| author | Ghosh, Poulomee Bhasin, Shubhendu |
| author_facet | Ghosh, Poulomee Bhasin, Shubhendu |
| contents | 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. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2603_08307 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | Adaptive Tracking Control of Euler-Lagrange Systems with Time-Varying State and Input Constraints Ghosh, Poulomee Bhasin, Shubhendu Systems and Control 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. |
| title | Adaptive Tracking Control of Euler-Lagrange Systems with Time-Varying State and Input Constraints |
| topic | Systems and Control |
| url | https://arxiv.org/abs/2603.08307 |