A Combination of Distributed Delays Shapers and ADRC for Gantry Crane Control

In order to suppress payload oscillation, input shaping technique in combination with traditional PID controller is a popular practical approach. However, its performance is easily degraded by disturbance and parameter uncertainty. In this paper, for improving the performance of the crane system, ADRC in combination with distributed input shaping is proposed. The ADRC is used to reject disturbance while keeping the simplicity in design as PID controller, and distributed input shaping plays the role of vibration suppression. Simulations show the effectiveness of the proposed approach.