On global output feedback regulation of Euler-Lagrange systems with bounded inputs

We identify a class of Euler-Lagrange systems with bounded inputs that can be globally asymptotically stabilized via dynamic output feedback. In particular, we prove that if the system is fully actuated and the forces due to the potential field can be "dominated" by the constrained control signals, then global output feedback regulation is still possible, incorporating some suitable saturation functions in the controller.