The Output Regulation for Tracking Unusual Motion Patterns by Active Disturbance Rejection Control

In this paper, from the viewpoint of engineering applications, we consider the tracking regulation for unusual motion pattern such as sawtooth, square wave etc. The method can be summarized as follows. Firstly, we use a dynamic mechanism to regulate the gain of Integral part of PID controller such that the system can eliminate the disturbances which are form the system itself or exogenous, and then the system can be synthesized easily. Secondly, we design the control input through proper forms of nonlinear combination of Proportional and Derivative of error for the remainder system which without disturbances. The method can reject uncertainties or disturbances effectively and implement output regulation powerfully even though the system contains uncertainties or suffers form disturbances, and even the targets' movement is unusual. The method can also be extended to higher order systems or to MIMO interconnected systems. The theoretical analysis and simulation results are given to indicate the effectiveness of the method.