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Volume 14
Issue 8
10.3390/act14080383
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Article

Adaptive Shared Trajectory Tracking Control for Output-Constrained Euler–Lagrange Systems

by
Ke Tang
and
Liang Sun
*
Key Laboratory of Intelligent Bionic Unmanned Systems, Ministry of Education, School of Intelligence Science and Technology, University of Science and Technology Beijing, Beijing 100083, China
*
Author to whom correspondence should be addressed.
Actuators 2025, 14(8), 383; https://doi.org/10.3390/act14080383 (registering DOI)
Submission received: 25 June 2025 / Revised: 29 July 2025 / Accepted: 31 July 2025 / Published: 3 August 2025
(This article belongs to the Special Issue Intelligent Safety Control and Actuation Technologies for Aerospace Systems)
Versions Notes

Abstract

This study presents the state-feedback and output-feedback adaptive shared trajectory tracking control laws for nonlinear Euler–Lagrange systems subject to parametric uncertainties and output constraints framed within linear inequalities. The logarithm-driven coordinate transformation is used to ensure that system outputs are consistently bounded by defined regions, while model-based adaptive laws are used in the machine controller to estimate and cancel parametric uncertainties and the human controller can be given arbitrarily. The stability of the whole controlled system is proved by Lyapunov stability theory, and simulation examples are used to illustrate the performance of the proposed shared control laws.
Keywords: Euler–Lagrange systems; parametric uncertainty; output constraint; shared control; adaptive control; state feedback; output feedback Euler–Lagrange systems; parametric uncertainty; output constraint; shared control; adaptive control; state feedback; output feedback

Share and Cite

MDPI and ACS Style

Tang, K.; Sun, L. Adaptive Shared Trajectory Tracking Control for Output-Constrained Euler–Lagrange Systems. Actuators 2025, 14, 383. https://doi.org/10.3390/act14080383

AMA Style

Tang K, Sun L. Adaptive Shared Trajectory Tracking Control for Output-Constrained Euler–Lagrange Systems. Actuators. 2025; 14(8):383. https://doi.org/10.3390/act14080383

Chicago/Turabian Style

Tang, Ke, and Liang Sun. 2025. "Adaptive Shared Trajectory Tracking Control for Output-Constrained Euler–Lagrange Systems" Actuators 14, no. 8: 383. https://doi.org/10.3390/act14080383

APA Style

Tang, K., & Sun, L. (2025). Adaptive Shared Trajectory Tracking Control for Output-Constrained Euler–Lagrange Systems. Actuators, 14(8), 383. https://doi.org/10.3390/act14080383

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