Combination of ADRC and distributed delays shapers: application for position control and sway reduction in gantry crane. (15th November 2021)

• Record Type: Journal Article
• Authors: Duong, Minh Duc; Dao, Quy Thinh; Nguyen, Manh Linh; Do, Trong Hieu
• Is Part Of: International journal of advanced mechatronic systems. Volume 9:Number 3(2021)
• Page Start: 163
• Page End: 173
• Publication Date: 2021-11-15
• Subjects: active disturbance rejection control -- ADRC -- distributed input shaping -- inverse shaper -- vibration suppression -- active disturbance rejection; Mechatronics -- Periodicals; 629.89
• Languages: English
• ISSNs: 1756-8412

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.