Rotary Inertial Navigation Active Disturbance Rejection Controller Based on Adaptive Genetic Algorithm

Abstract

The high-precision control of the rotary servo is an important way to improve the navigation accuracy of the inertial navigation system. This paper proposes a parameter tuning method of active disturbance rejection controller based on adaptive genetic algorithm. Specifically, in order to ensure that the genetic algorithm has strong capability of global search and convergence performance, it adjusts the mutation probability and crossover probability of the genetic algorithm according to the individual fitness. Compared with traditional PID controller, the simulation results show that the optimized active disturbance rejection controller (ADRC) has fast response speed, no oscillation and no static error. And finally it realizes faster and high-precision control on rotary inertial navigation.