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A general motion control architecture for an autonomous underwater vehicle with actuator faults and unknown disturbances through deep reinforcement learning

Fei Huang, Jian Xu, Liangang Yin, Di Wu, Yunfei Cui, Zheping Yan, Tao Chen

2022Ocean Engineering25 citationsDOI

Topics & Concepts

Reinforcement learningControl theory (sociology)ActuatorComputer scienceState spaceUnderactuationOptimal controlMotion controlControl engineeringMotion (physics)Artificial intelligenceEngineeringControl (management)RobotMathematicsMathematical optimizationStatisticsReinforcement Learning in RoboticsAdaptive Dynamic Programming ControlAdaptive Control of Nonlinear Systems
A general motion control architecture for an autonomous underwater vehicle with actuator faults and unknown disturbances through deep reinforcement learning | Litcius