Anti-sway and position control for double-pendulum crane using IS-ADRC controller

Gantry cranes are widely used in various fields such as industry and transportation. However, the crane generates unwanted payload vibration during operation, causing operation and safety at work difficulties. Especially with double-pendulum cranes, this is even more serious. This paper proposed the ADRC and Input Shaping combination controller to control trolley position and suppress payload vibration.