On active disturbance rejection control of the payload position for gantry cranes

Abstract

In this paper, a novel direct payload position control strategy is proposed based on Active Disturbance Rejection Control. External disturbance as well as internal unknown dynamics are estimated in real time and accommodated actively to reduce the control problem to a simple one. The proposed method is compared with the existing input shaping method with promising results. © 2013 AACC American Automatic Control Council.