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

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Abstract

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.

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Authors and Affiliations

  1. Programa de Ingeniería Mecatrónica, Facultad de Ingeniería, Universidad de San Buenaventura sede Bogotá, Cra. 8H No 172-20 Edif. DB, Bogotá, Of204, Colombia

    Horacio Coral-Enriquez & Santiago Pulido-Guerrero

  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

    John Cortés-Romero

Authors
  1. Horacio Coral-Enriquez
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Corresponding author

Correspondence to Horacio Coral-Enriquez.

Additional information

Recommended by Associate Editor Jin-Hua She

Horacio Coral-Enriquez received the B. Sc. degree in engineering in industrial automatica from the University of Cauca, Colombia in 2005, and the M. Sc. degree in automatica from the University of Valle, Colombia in 2010, the Ph. D. degree (Cum laude) in mechanical and mechatronics engineering from the National University of Colombia, Colombia in 2017. He is a re search associate professor of the Faculty of Engineering at the University of San Buenaventura Bogotá, Colombia. He is the author of over 29 technical papers in journals and international conference proceedings.

His research interests include active disturbance rejection control, nonlinear control, wind turbine control, and applications of control theory.

Santiago Pulido-Guerrero received the B. Sc. degree in mechatronics engineering from the San Buenaventura University, Colombia in 2017. He has published about 4 refereed journal and conference papers.

His research interests include control theory, simulation and implementation of control systems for mechatronic systems.

John Cortés-Romero received the B. Sc. degree in electrical engineering, the M. Sc. degree in industrial automation and the Ph. D. degree in mathematics from the National University of Colombia, Colombia in 1995, 1999 and 2007, respectively. He is a research associate professor of Department of Electrical and Electronic Engineering at National University of Colombia, Colombia. He is the author of over 70 technical papers in journals and international conference proceedings.

His research interests include nonlinear control applications, active disturbance rejection control and algebraic identification and estimation methods in feedback control systems.

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Coral-Enriquez, H., Pulido-Guerrero, S. & Cortés-Romero, J. Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes. Int. J. Autom. Comput. 16, 812–827 (2019). https://doi.org/10.1007/s11633-019-1179-6

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  • DOI: https://doi.org/10.1007/s11633-019-1179-6

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