Saturated RISE feedback control for Euler-Lagrange systems

This paper examines saturated control of a class of uncertain, nonlinear Euler-Lagrange systems which includes time-varying and nonlinearly parametrized functions with bounded disturbances using a continuous control law utilizing smooth saturation functions. The bounds on the control are known a priori and can be adjusted by changing the feedback gains. The saturated controller is shown to guarantee semi-global asymptotic tracking despite uncertainties in the dynamics.