  In this article, a novel adaptive controller is designed for Euler-Lagrangian
systems under predefined time-varying state constraints. The proposed
controller could achieve this objective without a priori knowledge of system
parameters and, crucially, of state-dependent uncertainties. The closed-loop
stability is verified using the Lyapunov method, while the overall efficacy of
the proposed scheme is verified using a simulated robotic arm compared to the
state of the art.
