  This paper proposes a novel control architecture for state and input
constrained Euler-Lagrange (E-L) systems with parametric uncertainties. A
simple saturated controller is strategically coupled with a Barrier Lyapunov
Function (BLF) based controller to ensure state and input constraint
satisfaction. To the best of the authors' knowledge, this is the first result
for E-L systems that guarantee asymptotic tracking with user-specified state
and input constraints. The proposed controller also ensures that all the
closed-loop signals remain bounded. The efficacy of the proposed controller in
terms of constraint satisfaction and tracking performance is verified using
simulation on a robot manipulator system.
