Submarine depth ADRC controller based on PSO near surface

During the submarine maneuvering, there are characteristics of nonlinear, slow time varying. A kind of ADRC controller for keeping submarine depth is proposed. Aiming at the problem of more parameters in ADRC, it transforms the problem of parameter design to parameter optimization. The controller parameter of ADRC in a submarine depth control system is optimized by using the PSO aiming at one type of submarine. The results of simulation near surface shows that not only the ADRC controller can keep submarine´s depth, but also the adaptive is better than of the conventional PID controller, and the control quality is more better than PID controller.