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
  • [41] Autonomous Guidance Navigation and Control for Agile Quadrotors Using Polynomial Trajectory Planning and L1 Adaptive Control
    Landolfi, Mattia
    Bandyopadhyay, Saptarshi
    de la Croix, Jean-Pierre
    Rahmani, Amir
    [J]. 2017 25TH MEDITERRANEAN CONFERENCE ON CONTROL AND AUTOMATION (MED), 2017, : 1041 - 1046
  • [42] Optimal Trajectory Generation and Flatness Tracking Control for a Mobile Robot
    Abadi, Amine
    Mekki, Hassen
    Brahim, Anis Ben Hadj
    El Amraoui, Adnen
    Ramdani, Nacim
    [J]. 2017 18TH INTERNATIONAL CONFERENCE ON SCIENCES AND TECHNIQUES OF AUTOMATIC CONTROL AND COMPUTER ENGINEERING (STA), 2017, : 223 - 228
  • [43] Trajectory Tracking for a Quadrotor System: A Flatness-based Nonlinear Predictive Control Approach
    Limaverde Filho, Jose Oniram de A.
    Lourenco, Tiago S.
    Fortaleza, Eugenio
    Murilo, Andre
    Lopes, Renato V.
    [J]. 2016 IEEE CONFERENCE ON CONTROL APPLICATIONS (CCA), 2016,
  • [44] Design of control law for Carrier-based Aircraft based on L1 adaptive control
    Li Yu
    Liu Xiaoxiong
    Zhao Hui
    Qiu Yueheng
    [J]. 2018 IEEE CSAA GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2018,
  • [45] The Design of Longitudinal Control Augmentation System for Aircraft Based on L1 Adaptive Control
    Ma, Qingyuan
    Liu, Xiaoxiong
    Li, Chuang
    Wang, Liangliang
    [J]. 2016 IEEE CHINESE GUIDANCE, NAVIGATION AND CONTROL CONFERENCE (CGNCC), 2016, : 713 - 717
  • [46] L1 Adaptive Control of Uncertain Networked Control Systems
    Wang, Xiaofeng
    Kharisov, Evgeny
    Hovakimyan, Naira
    [J]. 2013 AMERICAN CONTROL CONFERENCE (ACC), 2013, : 4122 - 4127
  • [47] Flatness-based adaptive sliding mode tracking control for a quadrotor with disturbances
    Ma, Dailiang
    Xia, Yuanqing
    Shen, Ganghui
    Jia, Zhiqiang
    Li, Tianya
    [J]. JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS, 2018, 355 (14): : 6300 - 6322
  • [48] Robot Arm Trajectory Tracking based on adaptive neural Control
    Long, Luo
    [J]. 2019 INTERNATIONAL CONFERENCE ON ADVANCED ELECTRONIC MATERIALS, COMPUTERS AND MATERIALS ENGINEERING (AEMCME 2019), 2019, 563
  • [49] Manipulator trajectory tracking based on adaptive sliding mode control
    Zhao, Haoyi
    Tao, Bo
    Ma, Ruyi
    Chen, Baojia
    [J]. CONCURRENCY AND COMPUTATION-PRACTICE & EXPERIENCE, 2022, 34 (21):
  • [50] Trajectory Tracking Control of Unmanned Vehicles Based on Adaptive MPC
    Liang, Zhong-Chao
    Zhang, Huan
    Zhao, Jing
    Wang, Yong-Fu
    [J]. Dongbei Daxue Xuebao/Journal of Northeastern University, 2020, 41 (06): : 835 - 840
12345