Combined ADRC and Model reference-based input filter for Overhead crane control: Design and experimental validation

Overhead cranes are widely used in industry and transportation, but their operation is often affected by undesired payload oscillations that degrade maneuverability and safety. Although numerous control strategies have been investigated, most of them are relatively complex in both controller design and practical implementation. This paper proposes a hybrid control scheme that integrates Active Disturbance Rejection Control (ADRC) with a model reference-based input filter, where ADRC ensures accurate trolley positioning and the filter suppresses payload swings .reducing the need for precise system modeling and mitigating the impact of parameter uncertainties. Simulation results confirm that the proposed approach effectively eliminates payload oscillations while achieving the desired positioning, and experimental validations further demonstrate its robustness and practical feasibility for crane operations.