Depth Control of Model-Free AUVs via Reinforcement Learning

IEEE Transactions on Systems, Man, and Cybernetics: Systems, Volume 49, Issue 12, 2019, Pages 2499-2510.

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Abstract:

In this paper, we consider depth control problems of an autonomous underwater vehicle (AUV) for tracking the desired depth trajectories. Due to the unknown dynamical model and the coupling between surge and yaw motions of the AUV, the problems cannot be effectively solved by most of the model-based or proportional-integral-derivative like...More

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