Extended State Observer-inspired Robust Controller for Overhead Crane Payload Tracking and Anti-swinging Problems

Abstract

This paper proposed a nonlinear three-dimension overhead crane with three moving including the moving of the cart along the x-axis and y-axis, the winding motion of the rope to track the load to the desired trajectory. However, there are a variety of uncertain components that affect the overhead crane system. Therefore, the extended state observer and the second-order sliding mode control are proposed to solve this problem. Moreover, the stabilization of the close-loop is also guaranteed through the Lyapunov function. Finally, the simulation and the comparison with other methods are provided to highlight the advantage quality of the observer and proposed control method.