Résumé
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.