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

Ibrahim M.Mehedi; Rachid Mansouri; Ubaid M.Al-Saggaf; Ahmed I.M.Iskanderani; Maamar Bettayeb; Abdulah Jeza Aljohani; Thangam Palaniswamy; Shaikh Abdul Latif; Abdul Latif

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

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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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来源
《计算机、材料和连续体（英文）》 |2022年第3期|5133-5142|共10页
作者
Ibrahim M.Mehedi; Rachid Mansouri; Ubaid M.Al-Saggaf; Ahmed I.M.Iskanderani; Maamar Bettayeb; Abdulah Jeza Aljohani; Thangam Palaniswamy; Shaikh Abdul Latif; Abdul Latif;
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作者单位

Department of Electrical and Computer Engineering(ECE) Abdulaziz University Arabia;

Center of Excellence in Intelligent Engineering Systems(CEIES) Abdulaziz University Arabia;

L2CSP Laboratory Mammeri University Ouzou;

Electrical&Computer Engineering Department of Sharjah Arab Emirates;

Department of Nuclear Engineering Abdulaziz University Arabia;

Department of Mathematics Abdulaziz University Arabia;

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原文格式 PDF
正文语种 chi
中图分类数学分析;
关键词
Active disturbance rejection; fractional calculus; ADRC; pole placement; linear flexible joint system; robust control;

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专利

1. Linear Active Disturbance Rejection Control with a Fractional-Order Integral Action [J] . Maâmar Bettayeb ,Rachid Mansouri ,Ubaid M.Al-Saggaf . 计算机、材料和连续体(英文) . 2022,第11期
2. Stability analysis of linear/nonlinear switching active disturbance rejection control based MIMO continuous systems [J] . WAN Hui ,QI Xiaohui ,LI Jie . 系统工程与电子技术:英文版 . 2021,第4期
3. Adaptive direct feedback linearization control of all-electric tank gun system [C] . WANG Hong-yan ,QIAO Ji-hong . 2011年中国智能自动化会议 . 2011
4. The Performance of Control Charts for Linear profiles with Estimated Parameters [A] . 柯宏旭 . 2008

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

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