Abstract:Taking a hydraulic spherical joint as the research object,aiming at the characteristics of multi-input multi-output,nonlinearity and model uncertainties,a parameter self-tuning active disturbance rejection controller (ADRC) based on an improved particle swarm optimization (PSO) algorithm was proposed.The significance and setting principle of each parameter of ADRC were analyzed,an improved nonlinear dynamic method was used to update the inertia weight of PSO,the product of time and absolute error integral (ITAE) was use as an optimization criterion,and the improved PSO was used to self-adjust parameters of ADRC online.The control system simulation model was established by using MATLAB/Simulink.The results show that compared with the traditional ADRC,the ADRC optimized by the improved PSO has better control performance,the overshoots in the α and β directions are respectively reduced by 0.3 rad,0.13 rad,and the settling time are respectively reduced by 0.98 s，0.59 s.
