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

Table 7

Performance indicators of controllers (with interference).

Controller	Adjustment time (s)	ITAE	Overshoot (m)
PSO-IADRC	16.86	401.295	8.98
IPSO-IADRC	13.03	130.023	1.32
GWO-IADRC	15.23	389.879	5.93