Combination of Data-Driven Active Disturbance Rejection and Takagi-Sugeno Fuzzy Control with Experimental Validation on Tower Crane Systems

Abstract

In this paper a second-order data-driven Active Disturbance Rejection Control (ADRC) is merged with a proportional-derivative Takagi-Sugeno Fuzzy (PDTSF) logic controller, resulting in two new control structures referred to as second-order data-driven Active Disturbance Rejection Control combined with Proportional-Derivative Takagi-Sugeno Fuzzy Control (ADRC–PDTSFC). The data-driven ADRC–PDTSFC structure was compared with a data-driven ADRC structure and the control system structures were validated by real-time experiments on a nonlinear Multi Input-Multi Output tower crane system (TCS) laboratory equipment, where the cart position and the arm angular position of TCS were controlled using two Single Input-Single Output control system structures running in parallel. The parameters of the data-driven algorithms were tuned in a model-based way using a metaheuristic algorithm in order to improve the efficiency of energy consumption.

Keywords

• Active Disturbance Rejection Control
• data-driven control
• fuzzy control
• second-order data-driven Active Disturbance Rejection Control merged with proportional-derivative Takagi-Sugeno Fuzzy Control
• tower crane systems