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arXiv · 2605.31405

Adaptive Artificial Time-Delay Control with Barrier Lyapunov Constraints for Euler-Lagrange Robots

Saksham Gupta·Rishabh Dev Yadav·Sarthak Mishra·Amitabh Sharma·Sourish Ganguly·Wei Pan·Spandan Roy·Simone Baldi
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Abstract

This paper addresses the challenge of simultaneously compensating for state-dependent uncertainties and enforcing time-varying state constraints in Euler-Lagrange systems, a common requirement in robotics that remains underserved by existing control designs. A novel adaptive control framework is developed that combines an artificial time-delay-based uncertainty estimation strategy, also known as time-delay estimation, with a barrier Lyapunov function to enforce constraint-aware control design. Specifically, a state-dependent upper bound on the time-delay estimation approximation error is analytically formulated, and an adaptive law is constructed to estimate its parameters online, enabling real-time state-dependent uncertainty compensation without relying on prior model knowledge. To ensure constraint compliance, the barrier Lyapunov function-based controller enforces time-varying bounds on both position and velocity. The resulting architecture is provably stable via Lyapunov analysis. Experimental results on a five-degree-of-freedom robotic manipulator validate the framework's capability, compared with the state of the art, in maintaining strict adherence to safety-critical constraints under dynamic uncertainties.

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Saksham Gupta, Rishabh Dev Yadav, Sarthak Mishra, Amitabh Sharma, Sourish Ganguly, Wei Pan, Spandan Roy, Simone Baldi. 2026-05-29. Adaptive Artificial Time-Delay Control with Barrier Lyapunov Constraints for Euler-Lagrange Robots. https://arxiv.org/abs/2605.31405

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