In this paper, the tracking control problem of uncertain Euler–Lagrange systems under control input saturation is studied. To handle system uncertainties, a leakage-type (LT) adaptive law is introduced to update the control gains to approach the disturbance variations without knowing the uncertainty upper bound a priori. In addition, an auxiliary dynamics is designed to deal with the saturation nonlinearity by introducing the auxiliary variables in the controller design. Lyapunov analysis verifies that based on the proposed method, the tracking error will be asymptotically bounded by a neighborhood around the origin. To demonstrate the proposed method, simulations are finally carried out on a two-link robot manipulator. Simulation results show that in the presence of actuator saturation, the proposed method induces less chattering signal in the control input compared to conventional sliding mode controllers.

本文研究了控制输入饱和下不确定欧拉-拉格朗日系统的跟踪控制问题。为了处理系统的不确定性，引入了泄漏型 (LT) 自适应律来更新控制增益以在不知道先验的不确定性上限的情况下接近干扰变化。此外，通过在控制器设计中引入辅助变量，设计了辅助动力学来处理饱和非线性。Lyapunov 分析验证了基于所提出的方法，跟踪误差将渐近地以原点周围的邻域为界。为了演示所提出的方法，最终在一个双连杆机器人操纵器上进行了仿真。仿真结果表明，在执行器饱和的情况下，