Proportional integral derivative controller assisted reinforcement learning for path following by autonomous underwater vehicles.
Simen Theie HavenstrømCamilla SterudAdil RasheedOmer SanPublished in: CoRR (2020)
Keyphrases
- proportional integral derivative
- pid controller
- reinforcement learning
- control scheme
- autonomous underwater vehicles
- fractional order
- control method
- control algorithm
- control system
- closed loop
- pid control
- matlab simulink
- function approximation
- control strategy
- rbf neural network
- particle swarm optimization
- differential equations
- optimal control
- mathematical model
- autonomous underwater vehicle
- control parameters
- obstacle avoidance
- learning algorithm
- cooperative
- path planning
- state space
- fuzzy logic controller
- adaptive control
- transfer function
- control law
- pso algorithm
- machine learning
- bp neural network
- disturbance rejection
- dynamic programming
- feedback control
- global optimization
- dead reckoning
- multi agent
- basis functions