Composite disturbance rejection control based on generalized extended state observer

Traditional extended state observer (ESO) design method does not focus on analysis of system reconstruction strategy. The prior information of the controlled system cannot be used for ESO implementation to improve the control accuracy. In this paper, composite disturbance rejection control strategy is proposed based on generalized ESO. First, the disturbance rejection performance of traditional ESO is analyzed to show the essence of the reconstruction strategy. Then, the system is reconstructed based on the equivalent disturbance model. The generalized ESO is proposed based on the reconstructed model, while convergence of the proposed ESO is analyzed along with the outer loop feedback controller. Simulation results on a second order mechanical system show that the proposed generalized ESO can deal with the external disturbance with known model successfully. Experiment of attitude tracking task on an aircraft is also carried out to show the effectiveness of the proposed method.