On flatness based L1 adaptive trajectory tracking control

A novel approach for devising trajectory tracking controllers is presented. The approach is based on a combination of flatness-based controller design and L₁ 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 L₁ adaptive controller component. We investigate the stability of the proposed scheme and show its effectiveness on an illustrative simulation example.