The Study of Modified ADRC Algorithm for Six Degrees of Freedom Shipboard Stabilized Platform

The shipboard stabilized system is subject to the large angular disturbance due to the disturbance of the wave. Therefore, it is necessary to study its compensation control method. In this article, the control strategy based on fuzzy active disturbance rejection controller (fuzzy ADRC) is proposed to optimize the control effect of this platform. The rules of fuzzy control are used to automatically adjust some parameters of ADRC. Besides, in order to adjust the parameters within a reasonable range, an improved particle swarm optimization (PSO) algorithm is designed, which introduces the probability of mutation to jump out of local optimum. Finally, the results of simulation show that the control strategy for the platform has good performance and strong anti-interference ability.