Towards structure-independent stabilization for uncertain underactuated Euler–Lagrange systems

Spandan Roy, Simone Baldi*

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

13 Citations (Scopus)


Available control methods for underactuated Euler–Lagrange (EL) systems rely on structure-specific constraints that may be appropriate for some systems, but restrictive for others. A generalized (structure-independent) control framework is to a large extent missing, especially in the presence of uncertainty. This paper introduces an adaptive-robust control framework for a quite general class of uncertain underactuated EL systems. Compared to existing literature, the important attributes of the proposed solution are: (i) avoiding structure-specific restrictions, namely, symmetry condition property of the mass matrix, and a priori bounds on non-actuated states or state derivatives; (ii) considering Coriolis, centripetal, friction and gravity terms to be unknown, while only requiring the knowledge of maximum perturbation around a nominal value of the mass matrix; (iii) handling state-dependent uncertainties irrespective of their linear or nonlinear in parameters structure. These features significantly widen the range of underactuated EL systems the proposed solution can handle in comparison to the available methods. Stability is studied analytically and the performance is verified in simulation using offshore boom crane dynamics.

Original languageEnglish
Article number108775
Number of pages8
Publication statusPublished - 2020

Bibliographical note

Accepted Author Manuscript


  • Adaptive-robust control
  • Euler–Lagrange systems
  • Underactuated systems


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