Parameter tuning of modified active disturbance rejection control based on the particle swarm optimization algorithm for high-order system

In order to reduce the number and difficulty of parameters being set, a method based on an improved particle swarm optimization (PSO) algorithm which can be used to tune ADRC parameters accurately is proposed. Meanwhile, to decrease the number of parameters, we optimize the state observer by designing several second or third-order state observers with the same parameters in series according to the system order. In order to verify the effectiveness and veracity of the proposed method, it is used to tune third-order ADRC, fourth-order ADRC, fifth-order ADRC and sixth-order ADRC. Simulation results show that the proposed PSO-based modified ADRC controller makes controller tuning easier and more effective and has strong robustness and adaptability for use in systems with many uncertain factors.