Adaptive Dynamic Programming Based Tracking Control for Switched Unmanned Underwater Vehicle Systems
Fengzhen Chen, Xiangrong Zhou · 2020 IEEE 5th Information Technology and Mechatronics Engineering Conference (ITOEC) · 2020
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.