Active disturbance rejection control for double-pendulum overhead cranes system

This paper proposes an anti-disturbance controller for bridge cranes with two-stage swing effects (DPOC). Firstly, the transition process is arranged by tracking differential (TD), which not only enhances the robustness of the controller, but also solves the contradiction between overshoot and rapidity. In addition, the expansion state observer (ESO) is designed to observe the uncertain state and external disturbance of the system, then the disturbance is compensated by the nonlinear control law (NLSEF), so as to realize the positioning and anti-swing of the double pendulum crane system. Finally, the auto-disturbance rejection ability of the system is verified by simulation.