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<p>An adaptive control strategy based on extended state observer is proposed for an overhead crane with double-pendulum effect. After introducing and analyzing the crane mechanism model, a linear data model with the additional term is established. The pseudo-partial derivative, being a crucial model parameter, is calculated recursively via the optimization principle. Furthermore, the pseudo-partial derivative is used to construct extended state observers to estimate the additional term. Finally, a quadratic cost function about the control increment is defined to design the optimal control law with compensation function. The designed crane control system has good adaptability and robustness, and its effectiveness and advantages have been verified.</p>

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Design of model-free adaptive controller for overhead cranes based on extended state observer

  • 期刊论文

  • 发表日期：

    2025年9月19日

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  • Weiqiang Tang,
  • Zhuorui Liu,
  • Wei Wang,
  • Haiyan Gao

摘要

An adaptive control strategy based on extended state observer is proposed for an overhead crane with double-pendulum effect. After introducing and analyzing the crane mechanism model, a linear data model with the additional term is established. The pseudo-partial derivative, being a crucial model parameter, is calculated recursively via the optimization principle. Furthermore, the pseudo-partial derivative is used to construct extended state observers to estimate the additional term. Finally, a quadratic cost function about the control increment is defined to design the optimal control law with compensation function. The designed crane control system has good adaptability and robustness, and its effectiveness and advantages have been verified.