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

Table 6

Optimal parameters of IADRC (yaw).

ESO.	Value	NLSEF	Value	TD	Value
	13.5410		511.2582	h	0.001
	153.5745		39.1210	r	50
	852.2404		358.2030
	0.0015		0.75
	0.5		1.25
	0.25		−0.25
	1		0.1
	1