Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach

Rodrigo Ramirez-Juarez; Mario Ramírez-Neria; Alberto Luviano-Juárez

doi:10.1007/978-3-030-90033-5_11

Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach

Rodrigo Ramirez-Juarez, Mario Ramírez-Neria, Alberto Luviano-Juárez

Unidad Profesional Interdisciplinaria de Ingeniería y Tecnologías Avanzadas (UPIITA)

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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.

Original language	English
Title of host publication	Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021
Editors	Héctor A. Moreno, Isela G. Carrera, Ricardo A. Ramírez-Mendoza, José Baca, Ilka A. Banfield
Publisher	Springer Science and Business Media Deutschland GmbH
Pages	92-100
Number of pages	9
ISBN (Print)	9783030900328
DOIs	https://doi.org/10.1007/978-3-030-90033-5_11
State	Published - 2022
Event	3rd Latin American Congress on Automation and Robotics, LACAR 2021 - Virtual, Online Duration: 17 Nov 2021 → 19 Nov 2021

Publication series

Name	Lecture Notes in Networks and Systems
Volume	347 LNNS
ISSN (Print)	2367-3370
ISSN (Electronic)	2367-3389

Conference

Conference	3rd Latin American Congress on Automation and Robotics, LACAR 2021
City	Virtual, Online
Period	17/11/21 → 19/11/21

Access to Document

10.1007/978-3-030-90033-5_11

Cite this

Ramirez-Juarez, R., Ramírez-Neria, M., & Luviano-Juárez, A. (2022). Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach. In H. A. Moreno, I. G. Carrera, R. A. Ramírez-Mendoza, J. Baca, & I. A. Banfield (Eds.), Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021 (pp. 92-100). (Lecture Notes in Networks and Systems; Vol. 347 LNNS). Springer Science and Business Media Deutschland GmbH. https://doi.org/10.1007/978-3-030-90033-5_11

Ramirez-Juarez, Rodrigo ; Ramírez-Neria, Mario ; Luviano-Juárez, Alberto. / Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach. Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. editor / Héctor A. Moreno ; Isela G. Carrera ; Ricardo A. Ramírez-Mendoza ; José Baca ; Ilka A. Banfield. Springer Science and Business Media Deutschland GmbH, 2022. pp. 92-100 (Lecture Notes in Networks and Systems).

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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.",

author = "Rodrigo Ramirez-Juarez and Mario Ram{\'i}rez-Neria and Alberto Luviano-Ju{\'a}rez",

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Ramirez-Juarez, R, Ramírez-Neria, M & Luviano-Juárez, A 2022, Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach. in HA Moreno, IG Carrera, RA Ramírez-Mendoza, J Baca & IA Banfield (eds), Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. Lecture Notes in Networks and Systems, vol. 347 LNNS, Springer Science and Business Media Deutschland GmbH, pp. 92-100, 3rd Latin American Congress on Automation and Robotics, LACAR 2021, Virtual, Online, 17/11/21. https://doi.org/10.1007/978-3-030-90033-5_11

Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach. / Ramirez-Juarez, Rodrigo; Ramírez-Neria, Mario; Luviano-Juárez, Alberto.
Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. ed. / Héctor A. Moreno; Isela G. Carrera; Ricardo A. Ramírez-Mendoza; José Baca; Ilka A. Banfield. Springer Science and Business Media Deutschland GmbH, 2022. p. 92-100 (Lecture Notes in Networks and Systems; Vol. 347 LNNS).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - 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.

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Ramirez-Juarez R, Ramírez-Neria M, Luviano-Juárez A. Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach. In Moreno HA, Carrera IG, Ramírez-Mendoza RA, Baca J, Banfield IA, editors, Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021. Springer Science and Business Media Deutschland GmbH. 2022. p. 92-100. (Lecture Notes in Networks and Systems). doi: 10.1007/978-3-030-90033-5_11

Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach

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