Robustness Improvement of the Fractional-Order LADRC Scheme for Integer High-Order System

Ubaid M. Al-Saggaf*, Rachid Mansouri, Maamar Bettayeb, Ibrahim M. Mehedi, Khalid Munawar

*Corresponding author for this work

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Abstract

This article deals with a novel fractional-order active disturbance rejection control (FADRC) scheme to handle a general integer-order system. The proposed control structure enhances the robustness and performance of the classical active disturbance rejection control, especially for the open-loop gain variation. Based on the Bode's ideal transfer function, an analytical design of a state-feedback control is proposed. The integer-order model of the system to be controlled is first transformed to a noninteger-order one, where the introduced fractional order is a design parameter, which imposes the overshoot of the closed-loop step response. In addition, because the model of the system is transformed to a cascade of integer- and fractional-order integrator (the model is noncommensurate), a commensurate fractional-order extended state observer is proposed to estimate the generalized disturbance. To improve the robustness of the proposed FADRC scheme, an analytical design method of a noncommensurate state-feedback control is proposed. The proposed design method is based on the Bode's ideal transfer function cascaded with an integer-order filter. The proposed FADRC scheme is applied for a pendulum-cart test bed, and the effectiveness and robustness of the proposed control are examined by experiments.

Original languageEnglish
Article number9170811
Pages (from-to)8572-8581
Number of pages10
JournalIEEE Transactions on Industrial Electronics
Volume68
Issue number9
DOIs
Publication statusPublished - Sept 2021
Externally publishedYes

Keywords

  • Fractional calculus
  • fractional-order linear active disturbance rejection control (FLADRC)
  • integer high-order systems
  • robust control
  • weighted Bode's ideal transfer function

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Al-Saggaf, U. M., Mansouri, R., Bettayeb, M., Mehedi, I. M., & Munawar, K. (2021). Robustness Improvement of the Fractional-Order LADRC Scheme for Integer High-Order System. IEEE Transactions on Industrial Electronics, 68(9), 8572-8581. Article 9170811. https://doi.org/10.1109/TIE.2020.3016258