High-order output type model-free self-adaptive course control method and system for ocean robot

The invention discloses a high-order output type model-free self-adaptive course control method and system for an ocean robot, and belongs to the technical field of ocean robot control. The problem that the dynamic response speed between a course control system and an MFAC controller is not matched in an existing MFAC algorithm is solved. The method comprises the following steps: firstly, calculating a difference value between an actual heading when a controller operates for k times and an actual heading when the controller operates for k-1 times to obtain first-order differential output information delta y (k), and calculating a difference value between the actual heading when the controller operates for k-1 times and the actual heading when the controller operates for k-2 times to obtain first-order differential output information delta y (k-1); calculating a difference value between the first-order differential output information delta y (k) and the first-order differential output information delta y (k-1)