{"title":"On flatness based L1 adaptive trajectory tracking control","authors":"K. Treichel, J. Reger, Remon Al Azrak","doi":"10.1109/CCA.2014.6981485","DOIUrl":null,"url":null,"abstract":"A novel approach for devising trajectory tracking controllers is presented. The approach is based on a combination of flatness-based controller design and L1 adaptive control. The nominal part of the tracking controller involves concepts from differential flatness. In order to preserve the nominal closed-loop dynamics in the presence of time-varying matched uncertainties the controller is augmented by an L1 adaptive controller component. We investigate the stability of the proposed scheme and show its effectiveness on an illustrative simulation example.","PeriodicalId":205599,"journal":{"name":"2014 IEEE Conference on Control Applications (CCA)","volume":"1 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"2014-12-11","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"3","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"2014 IEEE Conference on Control Applications (CCA)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/CCA.2014.6981485","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}
引用次数: 3
Abstract
A novel approach for devising trajectory tracking controllers is presented. The approach is based on a combination of flatness-based controller design and L1 adaptive control. The nominal part of the tracking controller involves concepts from differential flatness. In order to preserve the nominal closed-loop dynamics in the presence of time-varying matched uncertainties the controller is augmented by an L1 adaptive controller component. We investigate the stability of the proposed scheme and show its effectiveness on an illustrative simulation example.
京公网安备 11010802042870号
京ICP备2023020795号-1
分享
求助内容：
应助结果提醒方式：
扫码关注我们
