A novel payload swing control method based on active disturbance rejection control for 3D overhead crane systems with time-varying rope length

To effectively mitigate payload swing in three-dimensional (3D) overhead crane systems during hoisting/lowering operations, a novel payload swing control method based on active disturbance rejection control (ADRC) is proposed in this work. Through a nonlinear tracking differentiator (NTD) is improved to extract the differential signals from the reference trajectory, a nonlinear extended state observer (NESO) is designed to estimate the total disturbance in the crane systems, and a compensation controller, based on the sliding mode method and utilizing a composite signal, is developed to ensure stable actuation, accurate positioning, and swing elimination. The feasibility of this control method is validated by comparative simulation analysis.