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This paper proposes a novel control architecture for state and inputconstrained Euler-Lagrange (E-L) systems with parametric uncertainties. Asimple saturated controller is strategically coupled with a Barrier LyapunovFunction (BLF) based controller to ensure state and input constraintsatisfaction. To the best of the authors' knowledge, this is the first resultfor E-L systems that guarantee asymptotic tracking with user-specified stateand input constraints. The proposed controller also ensures that all theclosed-loop signals remain bounded. The efficacy of the proposed controller interms of constraint satisfaction and tracking performance is verified usingsimulation on a robot manipulator system.

Adaptive Tracking Control of Uncertain Euler-Lagrange Systems with State and Input Constraints