TY - GEN
T1 - Tracking Trajectory Control of a Double Pendulum Gantry Crane Using ADRC Approach
AU - Ramirez-Juarez, Rodrigo
AU - Ramírez-Neria, Mario
AU - Luviano-Juárez, Alberto
N1 - Publisher Copyright:
© 2022, The Author(s), under exclusive license to Springer Nature Switzerland AG.
PY - 2022
Y1 - 2022
N2 - 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.
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.
UR - http://www.scopus.com/inward/record.url?scp=85121581209&partnerID=8YFLogxK
U2 - 10.1007/978-3-030-90033-5_11
DO - 10.1007/978-3-030-90033-5_11
M3 - Contribución a la conferencia
AN - SCOPUS:85121581209
SN - 9783030900328
T3 - Lecture Notes in Networks and Systems
SP - 92
EP - 100
BT - Advances in Automation and Robotics Research - Proceedings of the 3rd Latin American Congress on Automation and Robotics, LACAR 2021
A2 - Moreno, Héctor A.
A2 - Carrera, Isela G.
A2 - Ramírez-Mendoza, Ricardo A.
A2 - Baca, José
A2 - Banfield, Ilka A.
PB - Springer Science and Business Media Deutschland GmbH
T2 - 3rd Latin American Congress on Automation and Robotics, LACAR 2021
Y2 - 17 November 2021 through 19 November 2021
ER -