• DocumentCode
    184132
  • Title

    On flatness based L1 adaptive trajectory tracking control

  • Author

    Treichel, Kai ; Reger, Johann ; Al Azrak, Remon

  • Author_Institution
    Control Eng. Group, Tech. Univ. Ilmenau, Ilmenau, Germany
  • fYear
    2014
  • fDate
    8-10 Oct. 2014
  • Firstpage
    1158
  • Lastpage
    1165
  • 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.
  • Keywords
    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; Adaptive control; Bandwidth; Equations; Feedforward neural networks; Trajectory; Uncertainty;
  • fLanguage
    English
  • Publisher
    ieee
  • Conference_Titel
    Control Applications (CCA), 2014 IEEE Conference on
  • Conference_Location
    Juan Les Antibes
  • Type

    conf

  • DOI
    10.1109/CCA.2014.6981485
  • Filename
    6981485
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=184132