A new control algorithm based on data-driven design to reject ship course disturbance

A kind of control algorithm based on data-driven design to reject ship course disturbance is proposed. Equivalent space and vectors are directly identified by using process data. Residual generator is designed based on complete state observer, and the Youla parameterization controller is then used to tune residual error through the identified equivalent space online. The gradient of quadratic performance index is directly estimated, and the Youla parameters of the controller are optimized online by using gradient descent method. The simulation results are shown that the influences of sea wave disturbance to ship course can be effectively rejected by using the online optimized controller and the robustness of the system can be improved.