Linear Active Disturbance Rejection Control for Double-Pendulum Overhead Cranes

Because of the complexity, non-linearity, and under-actuated features double pendulum overhead cranes, a control method based on linear active disturbance rejection (LADRC) differential flatness theory is proposed to realize accurate trolley positioning effective swing eliminating. Specifically, in order simplify system model, we introduce construct output. Based this method, uncertainty external become total disturbance. The crane designed according LADRC. Then, use bird swarm algorithm (BSA) optimize controller's parameters. Finally, double-pendulum LADRC can better accomplish crane's anti-swing location real environment simulation experimental results, which confirms its effectiveness robustness existing system.