A saturated barrier-Lyapunov adaptive controller for uncertain Euler-Lagrange systems is claimed to guarantee state and input constraints, and includes a feasibility condition on the input bound.
Control barrier function based quadratic programs with application to adaptive cruise control,
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State and Input Constrained Adaptive Tracking Control of Uncertain Euler-Lagrange Systems with Robustness and Feasibility Analysis
A saturated barrier-Lyapunov adaptive controller for uncertain Euler-Lagrange systems is claimed to guarantee state and input constraints, and includes a feasibility condition on the input bound.