Parameters Tuning and Optimization of Linear Active Disturbance Rejection Control Subject to Actuator Rate Limit

The traditional empirical tuning method of Linear Active Disturbance Rejection Control (LADRC) parameters is obtained without considering the actuator rate limit. Once the actuator rate is limited, then the input and output signals of the actuator cannot be synchronized. Considering that there is no efficient strategy for tuning LADRC parameters when the actuator rate is limited. And the parameters tuning method of LADRC is complex and difficult. Taking the traditional LADRC parameter tuning value as the benchmark and combining with the Pigeon Inspired Optimization (PIO) algorithm, a LADRC parameter tuning method is proposed by constructing the quadratic objective function and changing the weight factor of the control increment. The simulation results show that the LADRC parameters optimization method based on PIO can keep the input and output signals of the actuator synchronized.