An Adaptive Control Framework for Underactuated Switched Euler–Lagrange Systems

Spandan Roy, Simone Baldi*, Petros A. Ioannou

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

21 Citations (Scopus)
69 Downloads (Pure)


The control of underactuated Euler–Lagrange systems with uncertain and switched parameters is an important problem whose solution has many applications. The problem is challenging as standard adaptive control techniques do not extend to this class of systems due to structural constraints that lead to parameterization difficulties. This note proposes an adaptive switched control framework that handles the uncertainty and switched dynamics without imposing structural constraints. A case study inspired by autonomous vessel operations is used to show the effectiveness of the proposed approach.

Original languageEnglish
Pages (from-to)4202-4209
JournalIEEE Transactions on Automatic Control
Issue number8
Publication statusPublished - 2022

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.


  • Euler–Lagrange (EL) systems
  • robust adaptive control
  • switched systems
  • underactuated systems


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