Optimization of Submarine Course Auto Disturbance Rejection Controller Based on NCD

It is always a hard work to optimize the parameters of auto disturbance rejection controller (ADRC) because of its too many parameters. An optimization method for designing the submarine course ADRC based on the Nonlinear Control Design (NCD) block set of Matlab was proposed. The chief algorithm of ADRC and characters of the NCD block set were referred in briefly too. It was pointed out that there are only five of the more than ten parameters of the ADRC to be optimized necessarily and that it is very convenient and easy to optimize the parameters by using the NCD block set saving a lot work. The design efficiency is improved. The computer simulation results showed that the adaptability of the ADRC is better than that of the PID controller. The rudder will be frayed less to use the ADRC than to use the PID controller.