Aimed at the problem of motion control of intelligent agent

the surface ship anti rolling was taken as an example with using the classical PID controller

  which is easy to implement in engineering. A kind of accumulation and the performance indexes of the absolute error in time by the roll and yaw of the simplex optimization algorithm were proposed to solve the controller parameters optimization positive problem According to the actual system output

  the controller parameters  were deried  for the optimization of the basis. The optimal roll and yaw control was ultimately achieved

and  the practicability of the proposed controller was gratly improved. At the same time

due to the difference between the frequency characteristics of the roll and yaw

  the high pass filter has better solved the rudder roll stabilization of course impact problem. The simulation results illustrated that the controller parameters of the simplex algorithm optimization of the control effect increased with the high pass filter and reduced the impact on the course of the rudder roll stabilization.