Multiple Model Adaptive Nonlinear Observer of Dynamic Positioning Ship

Table 2

Gains of observer using GA and PSO.

Matrix	GA	PSO
K 31	0.1×(45^4)×diag(1.265,1.543,1.881)	0.1×(45^4)×diag(1.221,1.531,1.486)
K 61	(45^4)×diag(1.278,1.197,1.472)	(45^4)×diag(1.577,1.493,1.216)
K 62	diag(1.631,1.727,1.735)	diag(1.973,1.425,1.834)
K 𝑝𝑎	diag(1.498,1.864,1.399)×𝜸3	diag(1.288,1.606,1.339)×𝜸3
K 𝑓	diag(1.887,1.635)	diag(1.425,1.715)