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    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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