Particle Swarm Optimization Tuned Compensation Function Observer Based Control Method for Ship Motion

To achieve more stable and rapid control of ship motion, we proposed the Compensation Function Observer (CFO)-based control algorithm and used the Particle Swarm Optimization (PSO) to adjust its parameters. The performance of the proposed method is compared with PSO based Active Disturbance Rejection Control (ADRC) and traditional ADRC. The simulation results show that the ship motion system controlled by our proposed method has smaller deviation and jitter. Even under different interference, it still has better performance.