Intelligent proportional trajectory tracking controllers: Using ultra-local model and time delay estimation techniques

• Published in: The 27th Chinese Control and Decision Conference (2015 CCDC) pp. 430 - 435
• Main Authors: Haoping Wang, Yang Tian, Shiyan Ni, Christov, Nicolai
• Format: Conference Proceeding
• Language: English
• Published: IEEE 01.05.2015
• Subjects: Delay effects; Estimation; Friction; Intelligent proportional control; Mathematical model; Recursive model free control; Stability analysis; Time delay estimation; Trajectory; Ultra-local Model

This paper presents a new intelligent proportional control (iPs) for trajectory tracking of nonlinear affine-in control systems with unknown internal dynamics. The referred proposed controller which is based on an ultra-local model and a time-delay estimation technique has a very simple structure an...