Objectives  The maritime navigation environment is random, complex and changeable, and intelligent autonomous navigation is an important trend in the development of large ocean-going transport ships, for which a new adaptive control method is proposed.

  Methods  First, the linear quadratic regulator (LQR) control method is integrated with the first-order dynamic integral sliding mode control method based on the grasshopper optimization algorithm (GOA). A nonlinear passive estimator with real-time monitoring of wave disturbance forces is then combined to separate the high and low-frequency motion signals of the ship. Finally, the simulation results of the proposed method are compared with those of the LQR control method and first-order dynamic integral sliding mode control method.

  Results  The results show that the new control method has better transient and steady-state tracking performance, and is able to overcome the effects of random waves under different sea conditions with strong robustness.

  Conclusions  The new control method has such abilities as self-adjustment in complex environments, fast control response, high precision and less redundant steering, enabling it to greatly improve the navigation efficiency, safety and stability of large transport ships.