Design of Crane Anti-swing Controller Based on Differential Flat and Linear Active Disturbance Rejection Control

Abstract

A design method of anti-swing and positioning conreoller based on differential flat and linear active disturbance rejection control technique is proposed for underactuated bridge crane system. First, the differential flatness theory is introduced to construct the flat output of the system, and on this basis, the LADRC of the system is designed. Next, the bird swarm algorithm is used to optimize the parameters. Finally, the simulation method shows that the control method has good control performance and strong robustness to external disturbances.