# Singular perturbation-based saturated adaptive control for underactuated Euler–Lagrange systems

> Research article (ISA Transactions, 2021) · cited 11× · AI/ML

**Wikidata**: [openalex:W3134041421](https://www.wikidata.org/wiki/openalex:W3134041421)  
**Source**: https://4ort.xyz/entity/singular-perturbation-based-saturated-adaptive-control-for-underactuated-eulerlagrange-systems