ZV Shaper – ADRC Combination Control for Crane System with Constrained Control Signal

Abstract

Gantry cranes are widely employed in various industries, including manufacturing and transportation. However, when used, the crane causes undesired cargo vibration, making it difficult to operate and  workplace safety. Numerous crane control systems exist, but most are rather complex in controller design and practical implementation. Because of its ease of tuning, quick reaction, and robustness against changing process parameters, Active Disturbance Rejection Control (ADRC) is a viable alternative to standard Proportional-Integral-Derivative (PID) controllers. However, in many flexible systems, ADRC controllers have little ability to decrease residual oscillation. The input shaping method, a commonly used feedforward control strategy for vibration suppression, can be implemented to address this issue. This paper proposed a hybrid controller that combines ADRC with input shaping to achieve accurate position control, low residual oscillation in the crane system. The condition of the controller parameter is given to ensure the input signal limits.