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

doi:10.1007/s11633-019-1179-6

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	Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes
	Horacio Coral-Enriquez 1; Santiago Pulido-Guerrero 1; John Cortés-Romero 2
发表期刊	International Journal of Automation and Computing
ISSN	1476-8186
	2019
卷号	16 期号:6 页码:812-827
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.
关键词	Active disturbance rejection control (ADRC) extended state observer (ESO) tower-crane control resonant observer disturbance observer linear matrix inequality.
DOI	10.1007/s11633-019-1179-6
引用统计	被引频次：11[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/42377
专题	学术期刊_Machine Intelligence Research
作者单位	1.Programa de Ingeniería Mecatrónica, Facultad de Ingeniería, Universidad de San Buenaventura sede Bogotá, Cra. 8H No 172-20 Edif. DB, Bogotá Of204, Colombia 2.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
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.

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