Proceedings of the 3rd International Conference on Mechatronics, Robotics and Automation

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

Authors
Jie Zhang, Zhenye Dong
Corresponding Author
Jie Zhang
Available Online April 2015.
DOI
https://doi.org/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.
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This is an open access article distributed under the CC BY-NC license.

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Proceedings
3rd International Conference on Mechatronics, Robotics and Automation
Part of series
Advances in Computer Science Research
Publication Date
April 2015
ISBN
978-94-62520-76-9
ISSN
2352-538X
DOI
https://doi.org/10.2991/icmra-15.2015.151How to use a DOI?
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  -