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Stability Analysis of a New Extended L1 Controller with Experimental Validation on an Underwater Vehicle

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 : L1 adaptive control is a recent scheme elaborated in order to ensure a decoupling between robustness and fast adaptation. This controller was validated in simulations and experimental results. Research is currently being developped in order to improve its architecture and design challenges. Our study focuses on the inherent time lag observed in presence of a varying reference trajectory. The solution proposed in this regard is the extended L1 controller in which we suggest an augmentation of the original one with a PID aiming to reduce the tracking error. The stability analysis of this new scheme is shown in this paper. Experimental results on an underwater vehicle subjected to a varying trajectory under several disturbances are then displayed to illustrate the e ciency of the method.
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https://hal-lirmm.ccsd.cnrs.fr/lirmm-00847170
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Submitted on : Monday, July 22, 2013 - 7:10:36 PM
Last modification on : Tuesday, December 17, 2019 - 2:10:58 AM
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Divine Maalouf, Ahmed Chemori, Vincent Creuze. Stability Analysis of a New Extended L1 Controller with Experimental Validation on an Underwater Vehicle. CDC: Conference on Decision and Control, Dec 2013, Florence, Italy. ⟨lirmm-00847170⟩

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