Abstract
In this article, an Active Disturbance Rejection Control (ADRC) scheme is tested on a double pendulum gantry crane system, with controllable tangent linearization, to solve the problem of trajectory tracking on the cart. A combination of feedback state controller with disturbance rejection is presented achieving the rest to rest path for the cart while regulating the inverted pendulums so that it remains near the equilibrium point in spite of perturbations. Simulations allowed to assess the proposed scheme with effective results in the presence of disturbances.
This is a preview of subscription content, log in via an institution to check access.
Access this chapter
Tax calculation will be finalised at checkout
Purchases are for personal use only
Similar content being viewed by others
References
Shiriaev, A.S., Freidovich, L.B., Robertsson, A., Johansson, R., Sandberg, A.: Virtual-holonomic-constraints-based design of stable oscillations of furuta pendulum: theory and experiments. IEEE Trans. Rob. 23(4), 827–832 (2007)
Olfati-Saber, R.: Nonlinear control of underactuated mechanical systems with application to robotics and aerospace vehicles. Ph.D. dissertation, Massachussets Institute of Technology (2000)
Butler, H., Honderd, G., Van Amerongen, J.: Model reference adaptive control of a gantry crane scale model. IEEE Control Syst. Mag. 11(1), 57–62 (1991)
Singhose, W., Towell, S.: Double-pendulum gantry crane dynamics and control. In: Proceedings of the 1998 IEEE International Conference on Control Applications (Cat. No.98CH36104), vol. 2, pp. 1205–1209 (1998)
Ordaz, P., Poznyak, A.: ‘KL’-gain adaptation for attractive ellipsoid method. IMA J. Math. Control. Inf. 32(3), 447–469 (2015)
Han, J.: From PID to active disturbance rejection control. IEEE Trans. Industr. Electron. 56(3), 900–906 (2009)
Zhao, S., Gao, Z.: An active disturbance rejection based approach to vibration suppression in two-inertia systems. Asian J. Control 15(2), 350–362 (2013)
Zhang, H., Zhao, S., Gao, Z.: An active disturbance rejection control solution for the two-mass-spring benchmark problem. In: American Control Conference (ACC). American Automatic Control Council (AACC) 2016, pp. 1566–1571 (2016)
Sira-Ramirez, H., Luviano-Juárez, A., Ramírez-Neria, M., Zurita-Bustamante, E.W.: Active Disturbance Rejection Control of Dynamic Systems: A Flatness Based Approach. Butterworth-Heinemann (2017)
Ramírez-Neria, M., Sira-Ramírez, H., Garrido-Moctezuma, R., Luviano-Juárez, A.: On the linear control of underactuated nonlinear systems via tangent flatness and active disturbance rejection control: the case of the ball and beam system. J. Dyn. Syst. Meas. Contr. 138(10), 104501 (2016)
Ramirez-Neria, M., Gao, Z., Sira-Ramirez, H., Garrido-Moctezuma, R., Luviano-Juarez, A.: Trajectory tracking for an inverted pendulum on a cart: an active disturbance rejection control approach. In: Annual American Control Conference (ACC) 2018, pp. 4881–4886. IEEE (2018)
Ramírez-Neria, M., Gao, Z., Sira-Ramirez, H., Garrido-Moctezuma, R., Luviano-Juarez, A.: On the tracking of fast trajectories of a 3DOF torsional plant: a flatness based ADRC approach. Asian J. Control 23(3), 1367–1379 (2021)
Acknowledgements
This article was partially supported by Universidad Iberoamericana Ciudad de México, DINVP, Prolongación Paseo de la Reforma 880, Colonia Lomas de Santa Fe, Álvaro Obregón, Ciudad de México 01219, and by Secretaría de Investigación y Posgrado - IPN under grant 20210259.
Author information
Authors and Affiliations
Corresponding author
Editor information
Editors and Affiliations
Rights and permissions
Copyright information
© 2022 The Author(s), under exclusive license to Springer Nature Switzerland AG
About this paper
Cite this paper
Ramirez-Juarez, R., Ramírez-Neria, M., Luviano-Juárez, A. (2022). Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach. In: Moreno, H.A., Carrera, I.G., Ramírez-Mendoza, R.A., Baca, J., Banfield, I.A. (eds) Advances in Automation and Robotics Research. LACAR 2021. Lecture Notes in Networks and Systems, vol 347. Springer, Cham. https://doi.org/10.1007/978-3-030-90033-5_11
Download citation
DOI: https://doi.org/10.1007/978-3-030-90033-5_11
Published:
Publisher Name: Springer, Cham
Print ISBN: 978-3-030-90032-8
Online ISBN: 978-3-030-90033-5
eBook Packages: Intelligent Technologies and RoboticsIntelligent Technologies and Robotics (R0)