A Gantry Crane Control Using ADRC and Input Shaping

Authors: Đỗ Trọng Hiếu*, Dương Minh Đức*, Hoàng Văn Thắng, Trần Văn Tùng, Nguyễn Trí Kiên

Abstract

Gantry cranes are wildly used in various fields such as industry and transportation. There are various approaches to control cranes, but most of them are difficult in design and implementation in practice. Input shaping technique in combination with traditional PID controller is a practical approach but its performance is easily degraded by disturbance and parameter uncertainty. This paper proposes ADRC in combination with Input shaping approach in which ADRC is used to reject disturbance while keeping the simplicity in design as PID controller, and Input shaping plays the role of vibration suppression. Simulations show the effectiveness of the proposed approach.

Keyword

ADRC, Extended Observer, Input Shaping
Pages : 25-30

Related Articles:

Authors : Hồ Mạnh Linh*, Tạ Sơn Xuất, Nguyễn Khắc Kiểm , Đào Ngọc Chiến
Authors : Nguyễn Anh Thái*, Đào Văn Lân, Hoàng Văn Phúc
Authors : Lê Thanh Hương*, Trần Trọng Nhân
Authors : Đỗ Trọng Anh, Đặng Khánh Hòa, Thân Việt Đức, Vũ Song Tùng, Lê Dũng, Nguyễn Tiến Dũng*
Authors : Phạm Văn Trường*, Trần Thị Thảo*, Trịnh Công Đồng
Authors : Vu Duy Hai*, Lai Huu Phuong Trung*, Phan Dang Hung, Dao Viet Hung, Dao Quang Huan, Chu Quang Dan