Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes

Horacio Coral-Enriquez, Santiago Pulido-Guerrero and John Cortés-Romero. Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes. International Journal of Automation and Computing, vol. 16, no. 6, pp. 812-827, 2019 doi:  10.1007/s11633-019-1179-6
 Citation: Horacio Coral-Enriquez, Santiago Pulido-Guerrero and John Cortés-Romero. Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes. International Journal of Automation and Computing, vol. 16, no. 6, pp. 812-827, 2019

## Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes

###### Author Bio: Horacio Coral-Enriquez received the B. Sc. degree in engineering in industrial automatica from the University of Cauca, Colombia in 2005, and the M. Sc. degree in automatica from the University of Valle, Colombia in 2010, the Ph. D. degree (Cum laude) in mechanical and mechatronics engineering from the National University of Colombia, Colombia in 2017. He is a research associate professor of the Faculty of Engineering at the University of San Buenaventura – Bogotá, Colombia. He is the author of over 29 technical papers in journals and international conference proceedings. His research interests include active disturbance rejection control, nonlinear control, wind turbine control, and applications of control theory. E-mail: hcoral@usbbog.edu.co (Corresponding author) ORCID iD: 0000-0002-1091-9112 Santiago Pulido-Guerrero received the B. Sc. degree in mechatronics engineering from the San Buenaventura University, Colombia in 2017. He has published about 4 refereed journal and conference papers. His research interests include control theory, simulation and implementation of control systems for mechatronic systems. E-mail: sapulido@academia.usbbog.edu.co ORCID iD: 0000-0003-1676-8076 John Cortés-Romero received the B. Sc. degree in electrical engineering, the M. Sc. degree in industrial automation and the Ph. D. degree in mathematics from the National University of Colombia, Colombia in 1995, 1999 and 2007, respectively. He is a research associate professor of Department of Electrical and Electronic Engineering at National University of Colombia, Colombia. He is the author of over 70 technical papers in journals and international conference proceedings. His research interests include nonlinear control applications, active disturbance rejection control and algebraic identification and estimation methods in feedback control systems. E-mail: jacortesr@unal.edu.co ORCID iD: 0000-0001-6991-4116
• Figure  1.  Scale model of a tower-crane

Figure  2.  Simplified model of the mechanical system of a tower crane

Figure  3.  Block diagram of the control scheme

Figure  4.  Comparison of time-domain responses of all control systems for trolley positioning under nominal parameters of the tower-crane

Figure  7.  Time-domain responses of the control systems for payload stabilization under a reduction of $30\%$ in the rope length of the tower-crane

Figure  5.  Time-domain responses of all control systems in Test 2 for payload stabilization under nominal parameters of the tower-crane

Figure  6.  Time-domain responses of all control systems for trolley positioning with a reduction of $30\%$ in the rope length of the tower-crane

Figure  8.  Block diagram of the control schemes for robustness experimental setup

Figure  9.  Experimental Nyquist plots for the open-loop control systems. Left: Nominal case. Right: Reduction of $30\%$ in the rope length L

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##### 出版历程
• 收稿日期:  2018-10-08
• 录用日期:  2019-01-01
• 网络出版日期:  2019-05-21
• 刊出日期:  2019-12-01

## Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes

### English Abstract

Horacio Coral-Enriquez, Santiago Pulido-Guerrero and John Cortés-Romero. Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes. International Journal of Automation and Computing, vol. 16, no. 6, pp. 812-827, 2019 doi:  10.1007/s11633-019-1179-6
 Citation: Horacio Coral-Enriquez, Santiago Pulido-Guerrero and John Cortés-Romero. Robust Disturbance Rejection Based Control with Extended-state Resonant Observer for Sway Reduction in Uncertain Tower-cranes. International Journal of Automation and Computing, vol. 16, no. 6, pp. 812-827, 2019

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