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

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  • Control Theory and Applications
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Abstract

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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Authors and Affiliations

  1. College of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan Hubei, 430081, China

    Xinyu Kang, Lin Chai & Huikang Liu

Authors
  1. Xinyu Kang
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  2. Lin Chai
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  3. Huikang Liu
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Corresponding author

Correspondence to Lin Chai.

Additional information

This work was supported by the National Key Research and Development Program of China under Grant grant number 2017YFC0805100.

Conflict of Interest Statement

The authors declare that they have no conflict of interest.

Xinyu Kang received his B.Eng. degree from the Southwest Minzu University, Chengdu, China, in 2020, where he is currently pursuing an M.S. degree with the College of Information Science and Engineering, Wuhan University of Science and Technology, Wuhan, China. His research interests include the nonlinear control of underactuated system.

Lin Chai received his M.Eng. and Ph.D. degrees from the Wuhan University of Science and Technology, Wuhan, China, in 2005 and 2019, respectively. Since 2005, he has been with the College of Information Science and Engineering, Wuhan University of Science and Technology, where he is currently a Professor. He has published more than ten papers in journals and international conferences. His major research interests include under-actuated system control, industrial network control, power systems, and its automation.

Huikang Liu received his M.Eng. degree from the Wuhan University of Science and Technology, Wuhan, China, in 1988. Since 1988, he has been with the College of Information Science and Engineering, Wuhan University of Science and Technology, where he is currently a Professor. His major research interests include intelligent equipment, new electric drive, and equipment fault diagnosis.

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Kang, X., Chai, L. & Liu, H. Anti-swing and Positioning for Double-pendulum Tower Cranes Using Improved Active Disturbance Rejection Controller. Int. J. Control Autom. Syst. 21, 1210–1221 (2023). https://doi.org/10.1007/s12555-022-0123-7

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