An ADRC-based backstepping control design for a class of fractional-order systems
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Updated: Nov 9, 2025

The Modular Design and Production of an Intelligent Robot Based on a Closed-Loop Control Strategy
Published on: October 14, 2017
Fatemeh Doostdar1, Hamed Mojallali2
1Electrical Engineering Department, Faculty of Engineering, University of Guilan, Rasht, Iran.
Abstract:
A combined fractional tracking controller based on backstepping and active disturbance rejection control (ADRC) is proposed in this work to control uncertain fractional-order systems (FOSs). The proposed method is constructed in two parts: first, all internal and external uncertainties are estimated by a fractional-order extended state observer (FO-ESO). Second, fractional backstepping method is used to determine the control law and lead the system to the desired control objectives. The control system stability is verified by fractional Lyapunov-like lemma and two numerical simulations confirm the efficiency of the proposed combined ADRC-based backstepping controller.
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