Paper Info
Title
On flatness based L1 adaptive trajectory tracking control
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.
Year
DOI
Venue
2014
10.1109/CCA.2014.6981485
Control Applications
Keywords
DocType
ISSN
adaptive control,closed loop systems,control system synthesis,stability,time-varying systems,trajectory control,uncertain systems,augmented controller,differential flatness,flatness based L1 adaptive trajectory tracking control,flatness-based controller design,nominal closed-loop dynamics,stability,time-varying matched uncertainties
Conference
1085-1992
Citations 
PageRank 
References 
0
0.34
0
Authors
3
Name
Order
Citations
PageRank
Treichel, K.100.68
Johann Reger24017.29
Remon Al Azrak300.34