“…The Active Disturbance Rejection Control (ADRC) algorithm studied in this paper ( Han, 2002 ; Ma et al, 2020 ; Sun et al, 2021 ; Tao et al, 2022b ), which inherits the characteristics of the PID algorithm, does not depend on the accurate model of the control object, while using modern signal processing techniques to improve its control process, unifies external disturbances and system errors as total disturbances, and then estimates and compensates them, which has the advantage of being easy to use in engineering and at the same time has a strong anti-disturbance capability. Depending on the Particle Swarm Optimization (PSO) ( Wang et al, 2013 ; Liu X. et al, 2021 ; Bai et al, 2022 ; Liu et al, 2022b ) which is characterized by fast convergence and high computational efficiency ( Li et al, 2019b ; Jiang et al, 2021b ; Liu et al, 2021c ; Huang et al, 2021 . ), Optimizing the parameters of ADRC using PSO can achieve better control effect.…”