Estimation of Observer Parameters for Dynamic Positioning Ships

Table 2

Parameters of observer.

Matrix	Empirical value	Parameter results by PSO
𝐾3	0.1 × (45^4) × diag([1.42, 1.33, 0.74])	0.1 × (45^4) × diag([1.40, 1.94, 1.02])
𝐾4	(45^4) × diag([1.35, 1.28, 0.57])	(45^4) × diag([1.41, 1.89, 0.16])