Title: Combination of ADRC and distributed delays shapers: application for position control and sway reduction in gantry crane

Authors: Minh Duc Duong; Quy Thinh Dao; Manh Linh Nguyen; Trong Hieu Do

Addresses: School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam ' School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam ' School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam ' School of Electrical Engineering, Hanoi University of Science and Technology, Hanoi, Vietnam

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.

Keywords: active disturbance rejection control; ADRC; distributed input shaping; inverse shaper; vibration suppression; active disturbance rejection.

DOI: 10.1504/IJAMECHS.2021.119113

International Journal of Advanced Mechatronic Systems, 2021 Vol.9 No.3, pp.163 - 173

Received: 25 Feb 2021
Accepted: 08 Jun 2021
Published online: 22 Nov 2021 *

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