Multi-ASV Coordinated Tracking With Unknown Dynamics and Input Underactuation via Model-Reference Reinforcement Learning Control

作者：Hu, Wenbo; Chen, Fei^*; Xiang, Linying; Chen, Guanrong

来源：IEEE Transactions on Cybernetics, 2023, 53(10): 6588-6597.

DOI：10.1109/TCYB.2022.3203507

• Reinforcement learning
• Uncertainty
• Vehicle dynamics
• Protocols
• Adaptation models
• Surges
• Damping
• Coordinated tracking
• input underactuation
• model-reference control
• reinforcement learning
• unknown dynamics

This article studies coordinated tracking of underactuated and uncertain autonomous surface vehicles (ASVs) via model-reference reinforcement learning control. It considered how model-reference control can be incorporated with reinforcement learning to address the challenges caused by model uncertainties and input underactuation, and how existing results may be employed to realize adaptive communication amongst ASVs. It is demonstrated that the proposed algorithm has a better performance over baseline control and effectively improves the training efficiency over reinforcement learning.

• 单位
  东北大学