Vol.70, No.3, 2022, pp.5133-5142, doi:10.32604/cmc.2022.021018
OPEN ACCESS
ARTICLE
Fractional Order Linear Active Disturbance Rejection Control for Linear Flexible Joint System
  • Ibrahim M. Mehedi1,2,*, Rachid Mansouri3, Ubaid M. Al-Saggaf1,2, Ahmed I. M. Iskanderani1, Maamar Bettayeb4, Abdulah Jeza Aljohani1,2, Thangam Palaniswamy1, Shaikh Abdul Latif5, Abdul Latif6
1 Department of Electrical and Computer Engineering (ECE), King Abdulaziz University, Jeddah, 21589, Saudi Arabia
2 Center of Excellence in Intelligent Engineering Systems (CEIES), King Abdulaziz University, Jeddah, 21589, Saudi Arabia
3 L2CSP Laboratory, Mouloud Mammeri University, Tizi Ouzou, Algeria
4 Electrical & Computer Engineering Department, University of Sharjah, United Arab Emirates
5 Department of Nuclear Engineering, King Abdulaziz University, Jeddah, 21589, Saudi Arabia
6 Department of Mathematics, King Abdulaziz University, Jeddah, 21589, Saudi Arabia
* Corresponding Author: Ibrahim M. Mehedi. Email:
(This article belongs to this Special Issue: Recent Advances in Metaheuristic Techniques and Their Real-World Applications)
Received 19 June 2021; Accepted 02 August 2021; Issue published 11 October 2021
Abstract
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.
Keywords
Active disturbance rejection; fractional calculus; ADRC; pole placement; linear flexible joint system; robust control
Cite This Article
Mehedi, I. M., Mansouri, R., Al-Saggaf, U. M., I., A., Bettayeb, M. et al. (2022). Fractional Order Linear Active Disturbance Rejection Control for Linear Flexible Joint System. CMC-Computers, Materials & Continua, 70(3), 5133–5142.
This work is licensed under a Creative Commons Attribution 4.0 International License , which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.