As to the problems of parameters tuning for active disturbance rejection controller (ADRC) usually using Cut & Try method to deal with the difficulties, and the procedure was complicated and tedious, and therefore it is hard to achieve the expected goal, a threestep procedure was established according to the separation principle. The method used the multiobjective genetic algorithm to optimize the parameters of ADRC step by step,which can deal with the difficulties in the parameter regulation of the ADRC. A numerical example was tested in the 2ndorder heading ADRC for a 150 000 t tanker with steering gear , and results show that the proposed method can easily find the optimal available parameters to design the ADRC and thus the controller can track the command heading quickly and smoothly.
Key words
ship /
course control /
active disturbance rejection controller /
genetic algorithm /
parameter tuning
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