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  • Open Access


    Linear Active Disturbance Rejection Control with a Fractional-Order Integral Action

    Maâmar Bettayeb1,3, Rachid Mansouri2,*, Ubaid M. Al-Saggaf3,4, Abdulrahman U. Alsaggaf3,4, Mohammed Moinuddin3,4

    CMC-Computers, Materials & Continua, Vol.73, No.2, pp. 3057-3079, 2022, DOI:10.32604/cmc.2022.025751

    Abstract Linear active disturbance rejection control (LADRC) is a powerful control structure thanks to its performance in uncertainties, internal and external disturbances estimation and cancelation. An extended state observer (ESO) based controller is the key to the LADRC method. In this article, the LADRC scheme combined with a fractional-order integral action (FOI-LADRC) is proposed to improve the robustness of the standard LADRC. Using the robust closed-loop Bode’s ideal transfer function (BITF), an appropriate pole placement method is proposed to design the set-point tracking controller of the FOI-LADRC scheme. Numerical simulations and experimental results on a cart-pendulum… More >

  • Open Access


    Control of Linear Servo Carts with Integral-Based Disturbance Rejection

    Ibrahim M. Mehedi1,2,*, Abdulah Jeza Aljohani1,2, Ubaid M. Al-Saggaf1,2, Ahmed I. Iskanderani1, Thangam Palaniswamy1, Mohamed Mahmoud3, Mohammed J. Abdulaal1, Muhammad Bilal1,2, Waleed Alasmary4

    CMC-Computers, Materials & Continua, Vol.73, No.1, pp. 453-463, 2022, DOI:10.32604/cmc.2022.022921

    Abstract This paper describes a system designed for linear servo cart systems that employs an integral-based Linear Active Disturbance Rejection Control (ILADRC) scheme to detect and respond to disturbances. The upgrade in this control technique provides extensive immunity to uncertainties, attenuation, internal disturbances, and external sources of noise. The fundamental technology base of LADRC is Extended State Observer (ESO). LADRC, when combined with Integral action, becomes a hybrid control technique, namely ILADRC. Setpoint tracking is based on Bode’s Ideal Transfer Function (BITF) in this proposed ILADRC technique. This proves to be a very robust and appropriate More >

  • Open Access


    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

    CMC-Computers, Materials & Continua, Vol.70, No.3, pp. 5133-5142, 2022, DOI:10.32604/cmc.2022.021018

    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 More >

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