In this article, a novel adaptive controller is designed for Euler-Lagrangian systems under predefined time-varying state constraints. The proposed controller could achieve this objective without a priori knowledge of system parameters and, crucially, of state-dependent uncertainties. The closed-loop stability is verified using the Lyapunov method, while the overall efficacy of the proposed scheme is verified using a simulated robotic arm compared to the state of the art.

翻译：本文针对具有预定义时间变化状态约束的Euler-Lagrangian系统，设计了一种新型自适应控制器。该控制器无需先验掌握系统参数，更关键的是，无需了解状态依赖不确定性的先验信息即可实现控制目标。通过Lyapunov方法验证了闭环稳定性，并利用模拟机械臂与现有先进方法进行对比，验证了所提方案的整体有效性。