Adaptive Anti-windup Tracking Control of Euler-Lagrange Systems with Unknown Parameters and Input Saturation

In this paper, the adaptive anti-windup tracking control problem for Euler-Lagrange systems is considered. The system parameters is unknown and parameter estimators are designed to estimate these uncertainties online. The projection operator is introduced to constrain the bounds of estimator values. Considering the input saturation, a feasibility condition and an optimization-based anti-windup mechanism are proposed, which adjust the control gains online to avoid the saturation phenomenon. Then, it is proved that the designed control scheme can guarantee the boundedness of tracking errors. Simulation results are provided to validate the proposed control scheme.