Trajectory Tracking of Underactuated Sea Vessels With Uncertain Dynamics: An Integral Reinforcement Learning Approach.
Mohammed I. AbouheafWail GueaiebMd. Suruz MiahDavide SpinelloPublished in: CoRR (2021)
Keyphrases
- trajectory tracking
- dynamic model
- reinforcement learning
- physical constraints
- desired trajectory
- closed loop
- bi directional
- iterative learning
- control law
- visual servoing
- iterative learning control
- control method
- function approximation
- control system
- mechanical systems
- dynamical systems
- sliding mode
- motion planning
- experimental data
- dynamic programming
- learning algorithm
- fuzzy logic
- model free
- state space
- robot control
- adaptive control
- position and orientation
- degrees of freedom
- pose estimation
- semi supervised