Abstract: The traditional quad-rotor UAV active disturbance rejection controller(ADRC)requires many parameters, and the traditional PSO algorithm can effectively set the parameters of the controller, but it requires a large number of particle groups and slows down the optimization speed. In this paper, based on the traditional PSO algorithm, according to the characteristics of the ADRC, the ADRC parameters are divided into two groups, and initialized the particle groups in two spaces, and cross-optimization is carried out to form a two-space PSO algorithm. Simulation results show that, compared with the traditional PSO algorithm, the two-space PSO algorithm requires fewer particle groups and has a faster optimization speed, so the ADRC optimized by the two-space PSO algorithm has a smaller error and a faster convergence speed.

Key words: PSO algorithm, two-space, ADRC, parameter tuning, control optimization