Model-Free Formation Control of Autonomous Underwater Vehicles: A Broad Learning-Based Solution
Wenqiang Cao, Jing Yan, Xian Yang, Xiaoyuan Luo, Xinping Guan
Abstract
Dear Editor, We develop a broad learning-based algorithm to enforce the formation control of AUVs. Compared with the deep learning (DL) based formation solutions, our solution employs the broad learning system (BLS) to remodel the learning framework without a retraining process, such that the learning structure can be simplified and the training time can be reduced. Finally, simulation and experimental studies are both performed to verify the effectiveness.
Topics & Concepts
UnderwaterComputer scienceProcess (computing)Control (management)Artificial intelligenceRetrainingDeep learningGeologyOceanographyOperating systemInternational tradeBusinessMachine Learning and ELMAdaptive Dynamic Programming ControlAdvanced Memory and Neural Computing