Design of variable universe adaptive Fuzzy fractional-order active disturbance rejection controller

A variable universe adaptive,Fuzzy fractional-order, active disturbance rejection control algorithm is proposed to improve control performance of fractional-order systems．In the design of variable universe adaptive Fuzzy control, a fractional-order extended state observer and a fractional-order tracking differentiator are introduced．In variable universe adaptive, Fuzzy fractional-order, active disturbance rejection control, the input signal is transformed into smooth tracking signal and high-quality differential signal by tracking differentiator．The estimated value of each state variable, real-time dynamic model of uncertainty and external disturbance are acquired by extended state observer．To eliminate steady-state error and improve control precision, an extended state error integral of variable range is proposed．Finally, variable universe adaptive, Fuzzy fractional-order, active disturbance rejection algorithm and fractional active disturbance rejection control (FADRC) algorithm are used to simulate a typical fractional-order system; the superiority and effectiveness of the proposed scheme are verified．