Design of Crane System Based on an Improved Active Disturbance Rejection Controller
Jie Zhang, Zhenye Dong
Available Online April 2015.
- https://doi.org/10.2991/icmra-15.2015.151How to use a DOI?
- Crane; Under-actuated System; Robustness; ADRC; Feedforward
- 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.
- Open Access
- This is an open access article distributed under the CC BY-NC license.
Cite this article
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 - 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 - https://doi.org/10.2991/icmra-15.2015.151 ID - Zhang2015/04 ER -