ROMJIST Volume 27, No. 1, 2024, pp. 50-64, DOI: 10.59277/ROMJIST.2024.1.04
Raul-Cristian ROMAN, Radu-Emil PRECUP, Emil M. PETRIU, Anamaria-Ioana BORLEA Hybrid Data-Driven Active Disturbance Rejection Sliding Mode Control with Tower Crane Systems Validation
ABSTRACT: This paper proposes a combination of a data-driven algorithm represented by the second-order continuous-time Active Disturbance Rejection Control (ADRC) and a Sliding Mode Control (SMC) algorithm. The purpose of this hybrid controller referred to as ADRC-SMC is to improve the overall control-loop system performance while guaranteeing its stability. This will be done through clear, simple, and transparent steps of controller design in a novel real formulation focused on practical implementation. The parameters of the novel second-order continuous-time ADRC-SMC algorithm are optimally tuned using a metaheuristic slime mould algorithm. The purpose of obtaining the parameters of the ADRC-SMC algorithms in this model-based manner is to reduce the heuristics and further ensure a fair performance comparison of the ADRC-SMC algorithm with that of the popular ADRC algorithm. The data-driven second-order continuous-time ADRC and ADRC-SMC algorithms are validated experimentally validated on tower crane laboratory equipment.KEYWORDS: Active disturbance rejection control system structure; sliding mode control; slime mould algorithm; tower crane system; real-time experimentsRead full text (pdf)