Open Access

ARTICLE

Fractional Order Linear Active Disturbance Rejection Control for Linear Flexible Joint System

Ibrahim M. Mehedi^1,2,*, Rachid Mansouri³, Ubaid M. Al-Saggaf^1,2, Ahmed I. M. Iskanderani¹, Maamar Bettayeb⁴, Abdulah Jeza Aljohani^1,2, 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 the Special Issue: Recent Advances in Metaheuristic Techniques and Their Real-World Applications)

Computers, Materials & Continua 2022, 70(3), 5133-5142. https://doi.org/10.32604/cmc.2022.021018

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.

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Keywords

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