Application of a novel nonlinear controller for attitude stabilization control system

An active disturbance rejection controller with the nonlinear characteristic has been developed in the attitude stabilization control system for a mine-hunting sonar array to ensure high performance. Using tracking differentiator, extended state observer, nonlinear state error feedback control law and appropriately configured parameters, the system controlled by ADRC attains satisfying transient response and tracking precision. Compared with classical PID controller, simulation experiments show that the proposed controller can not only meet the static and dynamic requirements, but also improve the plant robustness and disturbance attenuation remarkably.