TY - JOUR
T1 - Fractional order linear active disturbance rejection control for linear flexible joint system
AU - Mehedi, Ibrahim M.
AU - Mansouri, Rachid
AU - Al-Saggaf, Ubaid M.
AU - Iskanderani, Ahmed I.M.
AU - Bettayeb, Maamar
AU - Aljohani, Abdulah Jeza
AU - Palaniswamy, Thangam
AU - Latif, Shaikh Abdul
AU - Latif, Abdul
N1 - Publisher Copyright:
© 2022 Tech Science Press. All rights reserved.
PY - 2022
Y1 - 2022
N2 - A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper. With this control scheme, the performance against disturbances, uncertainties, and attenuation is enhanced. Linear active disturbance rejection control (LADRC) is mainly based on an extended state observer (ESO) technology. A fractional integral (FOI) action is combined with the LADRC technique which proposes a hybrid control scheme like FO-LADRC. Incorporating this FOI action improves the robustness of the standard LADRC. The set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function (BITF) based robust closed-loop concept, an appropriate pole placement method. The effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system (LFJS). The results show the enhancement of the robustness with disturbance rejection. Furthermore, a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.
AB - A linear flexible joint system using fractional order linear active disturbance rejection control is studied in this paper. With this control scheme, the performance against disturbances, uncertainties, and attenuation is enhanced. Linear active disturbance rejection control (LADRC) is mainly based on an extended state observer (ESO) technology. A fractional integral (FOI) action is combined with the LADRC technique which proposes a hybrid control scheme like FO-LADRC. Incorporating this FOI action improves the robustness of the standard LADRC. The set-point tracking of the proposed FO-LADRC scheme is designed by Bode’s ideal transfer function (BITF) based robust closed-loop concept, an appropriate pole placement method. The effectiveness of the proposed FO-LADRC scheme is illustrated through experimental results on the linear flexible joint system (LFJS). The results show the enhancement of the robustness with disturbance rejection. Furthermore, a comparative analysis is presented with the results obtained using the integer-order LADRC and FO-LADRC scheme.
KW - Active disturbance rejection
KW - ADRC
KW - Fractional calculus
KW - Linear flexible joint system
KW - Pole placement
KW - Robust control
UR - http://www.scopus.com/inward/record.url?scp=85117061205&partnerID=8YFLogxK
U2 - 10.32604/cmc.2022.021018
DO - 10.32604/cmc.2022.021018
M3 - Article
AN - SCOPUS:85117061205
SN - 1546-2218
VL - 70
SP - 5133
EP - 5142
JO - Computers, Materials and Continua
JF - Computers, Materials and Continua
IS - 3
ER -