###### Abstract
The results showed that the improved LADRC can better reduce the voltage fluctuation caused by the system and improve the power grid efficiency. In [25], LADRC was proposed to solve the problem of accurately tracking the planned trajectory of Delta high-speed parallel robots. The internal coupling and disturbance of the robot were observed and compensated by the state observer to solve the problem of strong couplings in the system. Finally, compared with the PID control, the experimental results showed that the Delta high-speed robot with LADRC had better response speed, tracking accuracy, and stronger robustness. Meanwhile, LADRC has also been widely used in other fields [26; 27; 28; 29]. Although LADRC has many advantages, it still needs to readjust its parameters for different systems. Moreover, due to the bandwidth limitation of LESO, some disturbance estimation errors may be caused, resulting in low control accuracy [30]. Therefore, finding a simple and efficient LADRC parameter tuning method and real-time compensation for the observation disturbance error of LESO can greatly improve the control performance of LADRC. Therefore, in order to ensure that HSTs can still track the ideal speed signal stably and accurately under the influence of various additional resistances and change in coefficients, the main contributions of this paper are summarized as follows:  
1. In this paper, a multi-mass point HST model with time-varying coefficients is selected as the controlled object, which is more in line with the actual operation;
2. A control scheme combining IPSO and ALADRC is proposed to solve the problem of HST speed tracking. As the main controller, LADRC can estimate and compensate for the total disturbance of the system in real-time. This enables each carriage with the traction unit to be controlled independently by LADRC to ensure the stability of HSTs during operation;
3. In order to solve the problem of parameter settings in LADRC, IPSO is proposed to optimize the four key parameters \(k_{p}\), \(k_{d}\), \(w\), and \(b\) in LADRC with the goal of minimizing the HST speed tracking error. By this method, LADRC can quickly and accurately obtain better parameter values under the ideal conditions of known route, which greatly simplifies the parameter setting process;
4. In order to adapt LADRC to the complex and changeable operating environment and to solve the problem of LESO, slight observation errors may be caused due to bandwidth limitations. Thus, APC is introduced. The combination of LADRC and APC can effectively improve the control performance when LADRC encounters unknown disturbances. The stability of the whole system can also be proved by the [PERSON] stability theory. Finally, by comparing with LADRC, it is verified that the designed control has more advantages in HST speed tracking. The rest of the paper is organized as follows: a HST multi-mass point model is given in Section 2; the design of the control scheme and the verification of the stability of the system using [PERSON]'s stability theory are given in Section 3; the design of the HST operation speed curve and the simulation results of two control schemes are given in Section 4; and the conclusion is given in the last section.