On Flatness based L1 adaptive Trajectory Tracking Control

被引：0
作者：
Treichel, Kai [1 ]
Reger, Johann [1 ]
Al Azrak, Remon [1 ]
机构：
[1] Tech Univ Ilmenau, Control Engn Grp, D-98684 Ilmenau, Germany
来源：
2014 IEEE CONFERENCE ON CONTROL APPLICATIONS (CCA) | 2014年
关键词：
FEEDFORWARD CONTROL DESIGN; NONLINEAR-SYSTEMS;
D O I：
暂无
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
A novel approach for devising trajectory tracking controllers is presented. The approach is based on a combination of flatness-based controller design and L-1 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 L-1 adaptive controller component. We investigate the stability of the proposed scheme and show its effectiveness on an illustrative simulation example.
引用
收藏
页码：1158 / 1165
页数：8
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