Adaptive Dynamic Programming Based Tracking Control for Switched Unmanned Underwater Vehicle Systems
- Resource Type
- Conference
- Authors
- Chen, Fengzhen; Zhou, Xiangrong
- Source
- 2020 IEEE 5th Information Technology and Mechatronics Engineering Conference (ITOEC) Technology and Mechatronics Engineering Conference (ITOEC), 2020 IEEE 5th Information. :1576-1580 Jun, 2020
- Subject
- Communication, Networking and Broadcast Technologies
Components, Circuits, Devices and Systems
Engineered Materials, Dielectrics and Plasmas
Engineering Profession
Robotics and Control Systems
Transportation
Uncertainty
Biological neural networks
Mathematical model
Adaptation models
Kinematics
Dynamic programming
Unmanned underwater vehicles
Adaptive dynamic programming (ADP)
Unmanned underwater vehicle (UUV)
Error tracking systems
Single critic neural network
- Language
In this work, adaptive dynamic programming (ADP) is introduced to solve the tracking control problems of unmanned underwater vehicle (UUV). Two unmanned underwater vehicle model are considered. One is without model uncertainties and the other is with model uncertainties. The switched error tracking systems is constructed based on the desired model. The ADP controller is constructed by a single critic neural network. The simulation results show that the overall systems achieve better tracking performance.