Design of Crane System Based on an Improved Active Disturbance Rejection Controller

DOI

10.2991/icmra-15.2015.151How to use a DOI?

Keywords

Crane; Under-actuated System; Robustness; ADRC; Feedforward

Abstract

An improved ADRC controller is designed for the crane system. Firstly, the extended state observer (ESO) is used to observe the total system disturbance consisting of the system’s dynamic perturbation, the system model variations and outside disturbance such as the wind effect. Secondly, to eliminate the observed disturbances. A proportional controller is used to eliminate sway angle of the load, while a feedforward controller is used to improve the dynamic performance of the system. The proposed method has been verified through simulation test.

Copyright

© 2015, the Authors. Published by Atlantis Press.

Open Access

This is an open access article distributed under the CC BY-NC license (http://creativecommons.org/licenses/by-nc/4.0/).

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TY  - CONF
AU  - Jie Zhang
AU  - Zhenye Dong
PY  - 2015/04
DA  - 2015/04
TI  - Design of Crane System Based on an Improved Active Disturbance Rejection Controller
BT  - Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation
PB  - Atlantis Press
SP  - 781
EP  - 786
SN  - 2352-538X
UR  - https://doi.org/10.2991/icmra-15.2015.151
DO  - 10.2991/icmra-15.2015.151
ID  - Zhang2015/04
ER  -