Design of Active Disturbance Rejection Controller for Dynamic Positioning Based on Improved Particle Swarm Optimization

Table 5

Optimal parameters of IADRC (sway).

ESO.	Value	NLSEF	Value	TD	Value
	769.6302		655.3659	h	0.001
	31.0268		497.0025	r	50
	0.3595		32.3841
	2		0.75
	0.5		1.25
	0.25		−0.25
	0.025		0.1
	0.025