Combination of ADRC and distributed delays shapers: application for position control and sway reduction in gantry crane Online publication date: Mon, 22-Nov-2021
by Minh Duc Duong; Quy Thinh Dao; Manh Linh Nguyen; Trong Hieu Do
International Journal of Advanced Mechatronic Systems (IJAMECHS), Vol. 9, No. 3, 2021
Abstract: This paper presents a novel combination controller design for improving the performance of the crane system. The considered crane has one control input (trolley force) whereas there are two variables to be controlled (trolley position and payload sway angle). A popular practical approach for crane control is the combination of the conventional input shaping technique and a traditional PID controller but its performance is easily degraded by disturbance and parameter uncertainty. The combination of active disturbance rejection control (ADRC) with distributed input shaping proposed in this paper comes up with a simultaneous trolley-position regulation in presence of disturbance and sway suppression. The ADRC is used to control the trolley position precisely and reject disturbance while keeping the simplicity in design as PID controller, and distributed input shaping plays the role of payload vibration suppression. Simulations show the effectiveness of the proposed approach.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Advanced Mechatronic Systems (IJAMECHS):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook