Trajectory Tracking of Underactuated Sea Vessels With Uncertain Dynamics: An Integral Reinforcement Learning Approach.
Mohammed I. AbouheafWail GueaiebMd. Suruz MiahDavide SpinelloPublished in: SMC (2020)
Keyphrases
- trajectory tracking
- dynamic model
- reinforcement learning
- physical constraints
- closed loop
- desired trajectory
- control law
- bi directional
- iterative learning
- iterative learning control
- function approximation
- experimental data
- state space
- dynamical systems
- control system
- sliding mode
- visual servoing
- control method
- motion planning
- control scheme
- mechanical systems
- model free
- optimal control
- initial conditions
- tracking error
- supervised learning
- control strategy
- learning algorithm
- robot control
- mathematical model