To deal with the system uncertainty in the path following problems with slow varying disturbances, a simple but effective L1 adaptive control strategy is introduced. This control law shows a fast adaptation rate and robust control performance, which can ensure the uniformly bounded transient and asymptotic tracking performances. An adaptive parameter is introduced to capture the uncertainty induced by disturbances. The L1 adaptive control law is then used to identify the time-varying parameter. An inner-outer loop control structure is used to analyze the system. The simulation result shows the effectiveness of this strategy.

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