Author name: Giansalvo Cirrincione, Adriano Fagiolini

arXiv:2605.06877v1 Announce Type: new
Abstract: Adaptive control of Euler-Lagrange systems is challenging when friction is governed by a finite-horizon internal state that is not directly observable from joint measurements. In this setting, the measur…

arXiv:2605.06934v1 Announce Type: new
Abstract: We augment the Slotine–Li adaptive controller for Euler–Lagrange systems with three learned components: a structured-quadratic Lyapunov function \(V_\psi\) whose positive-definiteness follows from a Ch…