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
相关论文
共 50 条
  • [1] Position Trajectory Tracking of a Quadrotor based on L1 Adaptive Control
    De Monte, Paul
    Lohmann, Boris
    [J]. AT-AUTOMATISIERUNGSTECHNIK, 2014, 62 (03) : 188 - 202
  • [2] Trajectory Tracking of a Quadrotor Helicopter Based on L1 Adaptive Control
    Li Min
    Zuo Zongyu
    Sun Donglei
    Wang Chunyan
    Wang Wei
    [J]. 2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2016, : 1887 - 1892
  • [3] Position Trajectory Tracking of a Quadrotor Helicopter based on L1 Adaptive Control
    De Monte, Paul
    Lohmann, Boris
    [J]. 2013 EUROPEAN CONTROL CONFERENCE (ECC), 2013, : 3352 - 3359
  • [4] Unmanned Helicopter Trajectory Tracking Control Based on L1 Adaptive and Backstepping Method
    Zheng, Jiang'an
    Guo, Ying
    Zhou, Yaoming
    Meng, Zhijun
    [J]. PROCEEDINGS OF THE 30TH CHINESE CONTROL AND DECISION CONFERENCE (2018 CCDC), 2018, : 2940 - 2946
  • [5] Trajectory tracking of quadrotor flying manipulators using L1 adaptive control
    Beikzadeh, Hossein
    Liu, Guangjun
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2018, 355 (14): : 6239 - 6261
  • [6] A longitudinal trajectory tracking method with L1 adaptive control for hypersonic reentry vehicles
    Han, GenSen
    Zhou, Jun
    Guo, JianGuo
    Lu, Qing
    [J]. TRANSACTIONS OF THE INSTITUTE OF MEASUREMENT AND CONTROL, 2020, 42 (03) : 386 - 403
  • [7] L1 Adaptive Backstepping for Robust Trajectory Tracking of UAVs
    Zuo, Zongyu
    Mallikarjunan, Srinath
    [J]. IEEE TRANSACTIONS ON INDUSTRIAL ELECTRONICS, 2017, 64 (04) : 2944 - 2954
  • [8] Trajectory Tracking Control Based on Differential Flatness
    Wang Yuxiao
    Chao Tao
    Wang Songyan
    Yang Ming
    [J]. PROCEEDINGS OF THE 35TH CHINESE CONTROL CONFERENCE 2016, 2016, : 10828 - 10832
  • [9] Trajectory tracking of tail-sitter aircraft by L1 adaptive fault tolerant control
    LI Zhaoying
    SHI Shuai
    LIU Hao
    [J]. Journal of Systems Engineering and Electronics, 2021, 32 (06) : 1477 - 1489
  • [10] Trajectory tracking of tail-sitter aircraft by l1 adaptive fault tolerant control
    Li Zhaoying
    Shi, Shuai
    Liu Hao
    [J]. JOURNAL OF SYSTEMS ENGINEERING AND ELECTRONICS, 2021, 32 (06) : 1477 - 1489
12345