Anti-swing and Positioning for Double-pendulum Tower Cranes Using Improved Active Disturbance Rejection Controller

摘要

In most working scenarios of tower cranes, the load swings around the hooks, resulting in a double-pendulum effect. This makes the tower crane more underactuated and nonlinear, and thus more difficult to control. To solve these problems, we design an improved Active Disturbance Rejection Controller (I-ADRC). First, we propose a smooth and non-linear function to reduce the high-frequency oscillation of the system at steady-state and avoid the "chattering" phenomenon. Second, we construct a new type of Extended State Observer (ESO) to improve the dynamic response performance of the system. Then we prove that the closed-loop system is asymptotically stable under reasonable parameters by using the Hurwitz criterion and Lyapunov technique. Numerical simulation results show that our proposed controller has superior control performance and strong robustness.

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