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

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 and easily to be regulated. Moreover with the systems output feedback, the proposed controller dose not require any knowledge of nonlinear internal dynamics ensuring the trajectory tracking of systems output. Finally, to validate the proposed method, a nonlinear cart system which includes different kind of frictions have been considered to compare with different model free controls of time delay estimation based control (TDEC) and recursive model free control (RMFC), and illustrates its corresponding performance and robustness.