Parameter Optimization of Active-Disturbance-Rejection Controller Based on Improved Genetic Algorithm

In order to overcome the difficulties in parameter tuning of the active-disturbance-rejection controller(ADRC),an improved genetic algorithm is used to tune the ADRC parameters.In the ADRC parameter optimization process,an evaluation function is established to evaluate the control effects,and both the controller's dynamic performance and the control input constraint conditions of the controlled objects are taken into account in the evaluation function.Control energy of the ADRC tuned by the proposed method is obviously less than that of the ADRC tuned by other methods.Simulation results show that the presented ADRC parameter tuning method is effective.