Deep Reinforcement Learning Based Backstepping Control for Underactuated AUV.
Hongxuan ChenTiechao BoShufeng WangGuoyuan TangPublished in: ICARM (2023)
Keyphrases
- reinforcement learning
- mechanical systems
- control strategy
- control problems
- optimal control
- receding horizon
- control method
- control system
- control policy
- motion planning
- control strategies
- state space
- control law
- robotic control
- action selection
- nonlinear systems
- adaptive control
- neural network
- degrees of freedom
- cooperative
- function approximation
- reinforcement learning algorithms
- robot control
- feedback control
- markov decision processes
- situational awareness
- lyapunov function
- input output
- learning algorithm