A new extension of the L1 adaptive controller to drastically reduce the tracking time lags

Divine Maalouf 1 Ahmed Chemori 2 Vincent Creuze 3
2 DEXTER - Conception et commande de robots pour la manipulation
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
3 EXPLORE - Robotique mobile pour l'exploration de l'environnement
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : The L1 adaptive control scheme has proven its effectiveness and robustness in various fields thanks to its particular architecture where robustness and adaptation are decoupled. It was though noted that whenever the trajectory is varying, an inherent lag is present compared to other adaptive schemes due to the presence of a filter in the control architecture. To achieve a better tracking, we propose extending the architecture of the L1 controller by augmenting it with a control input that could take the form of a nonlinear proportional or a proportional integral term. The extended scheme is validated through simulations via an illustrative example as well as experimental results performed on an underwater vehicle.
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Submitted on : Monday, August 5, 2013 - 7:00:13 AM
Last modification on : Tuesday, December 17, 2019 - 2:10:58 AM
Long-term archiving on: Wednesday, November 6, 2013 - 2:30:12 AM

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Divine Maalouf, Ahmed Chemori, Vincent Creuze. A new extension of the L1 adaptive controller to drastically reduce the tracking time lags. NOLCOS: Nonlinear Control Systems, Sep 2013, Toulouse, France. pp.001-006. ⟨lirmm-00841558⟩

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