Generalized-Extended-State-Observer and Equivalent-Input-Disturbance Methods for Active Disturbance Rejection: Deep Observation and Comparison |
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| J. She, K. Miyamoto, Q.-L. Han, M. Wu, H. Hashimoto, and Q.-G. Wang, “Generalized-extended-state-observer and equivalent-input-disturbance methods for active disturbance rejection: Deep observation and comparison,” IEEE/CAA J. Autom. Sinica, vol. 10, no. 4, pp. 957–968, Apr. 2023. doi: 10.1109/JAS.2022.105929 |
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| Authors: | Jinhua She Kou Miyamoto Qing-Long Han Min Wu Hiroshi Hashimoto Qing-Guo Wang |
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| Affiliation: | 1. School of Engineering, Tokyo University of Technology, Hachioji, Tokyo 192-0982, Japan;2. Institute of Technology, Shimizu Corporation, Koto, Tokyo 135-0044, Japan;3. School of Science, Computing and Engineering Technologies, Swinburne University of Technology, Melbourne, VIC 3122, Australia;4. 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;5. School of Industrial Technology, Advanced Institute of Industrial Technology, Tokyo 140-0011, Japan;6. 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 |
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| Abstract: | 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. |
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| Keywords: | Active disturbance-rejection control (ADRC) disturbance observer (DOB) equivalent input disturbance (EID) extended-state observer (ESO) generalized extended-state observer (GESO) |
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