Active disturbance rejection control of self-propelledmodel based on IPSO algorithm

DAI Zhuo; ZHANG Qing; LI Hongwei; WANG Wenyu

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Active disturbance rejection control of self-propelledmodel based on IPSO algorithm

Calculation & Test | 更新时间：2026-07-20

- Active disturbance rejection control of self-propelledmodel based on IPSO algorithm
- Vol. 45, Issue 7, Pages: 152-157(2026)
- 作者机构：
  
  1. 哈尔滨工程大学智能科学与工程学院,黑龙江,哈尔滨,150001
  2. 哈尔滨工程大学三亚南海创新发展基地,海南,三亚,572024
  3. 哈尔滨工程大学船舶与海洋工程学院,黑龙江,哈尔滨,150001
- 作者简介：
- 基金信息：
- DOI：
  CLC： TP273;TP29
- Published：2026
- 稿件说明：
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DAI Zhuo, ZHANG Qing, LI Hongwei, et al. Active disturbance rejection control of self-propelledmodel based on IPSO algorithm[J]. 2026, 45(7): 152-157.
DOI：

DAI Zhuo, ZHANG Qing, LI Hongwei, et al. Active disturbance rejection control of self-propelledmodel based on IPSO algorithm[J]. 2026, 45(7): 152-157. DOI：

摘要

为了实现对自航模航向的线性自抗扰控制器(LADRC)控制参数的自动整定

首先计算得到了自航模Nomoto模型的相关的参数

根据Nomoto模型并利用计算机对自航模航行运动进行仿真;然后

采用粒子群优化(PSO)算法对控制器参数进行优化。针对LADRC参数整定方法对PSO算法进行了一些改进

与PSO算法相比

改进PSO(IPSO)方法在前期全局搜索能力与后期局部搜索能力上都有较大的提升。IPSO算法可以实现对自航模LADRC参数的自动整定与优化。

Abstract

In order to achieve automatic tuning of control parameters of linear active disturbance rejection controller(LADRC) for the heading of the self-propelled model

the relevant parameters of the Nomoto model for the self-propelled model are calculated first.Based on the Nomoto model

the navigation motion of the self-propelled model is simulated using a computer.Then

the controller parameters are optimized using the particle swarm optimization(PSO) algorithm.Some improvements are made to the PSO algorithm for the LADRC parameter tuning method.Compared with the PSO algorithm

the improved PSO (IPSO) method has significant improvements in both the global search ability in the early stage and the local search ability in the later stage.The IPSO algorithm can automatically tune and optimize the LADRC parameters of the self-propelled model.

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