Abstract

CORAL-ENRIQUEZ, Horacio  and  PULIDO-GUERRERO, Santiago. Sway reduction in tower-cranes through discrete-time resonant active disturbance rejection control. Dyna rev.fac.nac.minas [online]. 2018, vol.85, n.204, pp.65-75. ISSN 0012-7353.  https://doi.org/10.15446/dyna.v85n204.63245.

In this paper, the problem of payload oscillations in tower-cranes subject to parametric uncertainties and external disturbances through a discrete-time Active Disturbance Rejection Control (ADRC) scheme is addressed. In the proposed control scheme, state and disturbance estimations are provided by an extended state observer which incorporates a resonant internal model designed to improve disturbance/state estimations specially those coming from the payload oscillation. Then, the control law is designed to reject the disturbances on-line and accommodate the closed-loop system dynamics. The control proposal is experimentally validated on a small-scale tower-crane, and compared to an observer-based PI controller and other ADRC scheme. The experimental results show that the proposed control scheme provides improved attenuation in the oscillations of the payload and exhibits substantial improvements in disturbance rejection properties.

Keywords : active disturbance rejection control; extended state observer; tower-cranes control; resonator; disturbance observer; discrete-time.

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