Research and application based on genetically optimized active disturbance rejection controller

A method of adopting the Adaptive Genetic Algorithm (AGA) to optimize parameters of the Active Disturbance Rejection Controller (ADRC) is proposed, which well solved the problem of adjusting its over-abundant parameters. A simplified 1-level ADRC is used to control the sinusoidal movement of the plane two-link manipulator in horizontal direction. Two 1-level ADRC of the same construction are used to implement the calibration-free visual servoing control of a six Degree-Of-Freedoms (DOFs) robot. Simulation results demonstrate the effectiveness of this method.