Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes

doi:10.1007/s11633-019-1179-6

CORC > 自动化研究所 > 中国科学院自动化研究所 > 学术期刊 > International Journal of Automation and Computing

	Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes
	Horacio Coral-Enriquez 2; Santiago Pulido-Guerrero 2; John Cortés-Romero 1
刊名	International Journal of Automation and Computing
	2019
卷号	16 期号:6 页码:812-827
关键词	Active disturbance rejection control (ADRC) extended state observer (ESO) tower-crane control resonant observer disturbance observer linear matrix inequality.
ISSN号	1476-8186
DOI	10.1007/s11633-019-1179-6
英文摘要	In this paper, the problem of load transportation and robust mitigation of payload oscillations in uncertain tower-cranes is addressed. This problem is tackled through a control scheme based on the philosophy of active-disturbance-rejection. Here, a general disturbance model built with two dominant components: polynomial and harmonic, is stated. Then, a disturbance observer is formulated through state-vector augmentation of the tower-crane model. Thus, better performance of estimations for system states and disturbances is achieved. The control law is then formulated to actively reject the disturbances but also to accommodate the closed-loop system dynamics even under system uncertainty. The proposed control schema is validated via experimentation using a small-scale tower-crane, and compared with other relevant active disturbance rejection control (ADRC)-based techniques. The experimental results show that the proposed control scheme is robust under parametric uncertainty of the system, and provides improved attenuation of payload oscillations even under system uncertainty.
内容类型	期刊论文
源URL	[http://ir.ia.ac.cn/handle/173211/42377]
专题	自动化研究所_学术期刊_International Journal of Automation and Computing
作者单位	1.Departamento de Ingeniería Eléctrica y Electrónica, Facultad de Ingeniería, Universidad Nacional de Colombia sede Bogotá, Cra. 30 No 45-03 Edif. 453, Bogotá Of222, Colombia 2.Programa de Ingeniería Mecatrónica, Facultad de Ingeniería, Universidad de San Buenaventura sede Bogotá, Cra. 8H No 172-20 Edif. DB, Bogotá Of204, Colombia
推荐引用方式 GB/T 7714	Horacio Coral-Enriquez,Santiago Pulido-Guerrero,John Cortés-Romero. Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes[J]. International Journal of Automation and Computing,2019,16(6):812-827.
APA	Horacio Coral-Enriquez,Santiago Pulido-Guerrero,&John Cortés-Romero.(2019).Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes.International Journal of Automation and Computing,16(6),812-827.
MLA	Horacio Coral-Enriquez,et al."Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes".International Journal of Automation and Computing 16.6(2019):812-827.