Hybrid Data-Driven Active Disturbance Rejection Sliding Mode Control with Tower Crane Systems Validation

This paper proposes a combination of a data-driven algorithm represented by 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.