Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes
文献类型：期刊论文
| 作者 | Horacio Coral-Enriquez2; Santiago Pulido-Guerrero2; John Cortés-Romero1 |
| 刊名 | International Journal of Automation and Computing
 |
| 出版日期 | 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. |
| 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. |
入库方式： OAI收割
来源：自动化研究所
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