Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison

• Published in: IEEE/CAA journal of automatica sinica Vol. 10; no. 4; pp. 957 - 968
• Main Authors: She, Jinhua, Miyamoto, Kou, Han, Qing-Long, Wu, Min, Hashimoto, Hiroshi, Wang, Qing-Guo
• Format: Journal Article
• Language: English
• Published: Piscataway Chinese Association of Automation (CAA) 01.04.2023; The Institute of Electrical and Electronics Engineers, Inc. (IEEE); School of Engineering,Tokyo University of Technology,Hachioji,Tokyo 192-0982,Japan%Institute of Technology,Shimizu Corporation,Koto,Tokyo 135-0044,Japan%School of Science,Computing and Engineering Technologies,Swinburne University of Technology,Melbourne,VIC 3122,Australia%School of Automation,China University of Geosciences,Wuhan 430074,the Hubei Key Laboratory of Advanced Control and Intelligent Automation for Complex Systems,and the Engineering Research Center of Intelligent Technology for Geo-Exploration,Ministry of Education,Wuhan 430074,China%School of Industrial Technology,Advanced Institute of Industrial Technology,Tokyo 140-0011,Japan%Institute of Artificial Intelligence and Future Networks,Beijing Normal University,Zhuhai 519087; Guangdong Key Lab of AI and Multi-Modal Data Processing,Guangdong Provincial Key Laboratory of Interdisciplinary Research and Application for Data Science ,and BNU-HKBU United International College,Zhuhai 519087,China
• Subjects: Active disturbance-rejection control (ADRC); Configuration management; disturbance observer (DOB); Disturbances; Equivalence; equivalent input disturbance (EID); Estimation; extended-state observer (ESO); generalized extended-state observer (GESO); Indexes; Observers; Rejection; State observers; Systems design; Time-domain analysis; Transfer functions; Transient analysis; Uncertainty; generalized extended-state observer (GESO); distur-bance observer (DOB); equivalent input disturbance (EID); extended-state observer (ESO); Active disturbance-rejection control (ADRC)
• ISSN: 2329-9266; 2329-9274
• DOI: 10.1109/JAS.2022.105929

Active disturbance-rejection methods are effective in estimating and rejecting disturbances in both transient and steady-state responses. This paper presents a deep observation on and a comparison between two of those methods: the generalized extended-state observer (GESO) and the equivalent input disturbance (EID) from assumptions, system configurations, stability conditions, system design, disturbance-rejection performance, and extensibility. A time-domain index is introduced to assess the disturbance-rejection performance. A detailed observation of disturbance-suppression mechanisms reveals the superiority of the EID approach over the GESO method. A comparison between these two methods shows that assumptions on disturbances are more practical and the adjustment of disturbance-rejection performance is easier for the EID approach than for the GESO method.