Adaptive dynamic programming-based optimal trajectory tracking control of a differential-driven unmanned surface vessel
Guanting Lin, Fei Teng, Ang Yang, Renhai Yu, Yuanbo Su, Tieshan Li · International Journal of Systems Science · 2025
In this paper, an optimal control strategy for trajectory tracking based on adaptive dynamic programming (ADP) is proposed, which can track the reference trajectory accurately and ensure the optimal energy consumption of unmanned surface vessel (USV). The model of the propeller motor system is established for the differential-driven USV, and the pulse width modulation (PWM) duty cycle of the propeller motor is adopted as the direct control input, which is convenient in practical application. The ADP method is used to approximate the Hamilton-Jacobi-Bellman (HJB) equation by actor-critic neural network (NN), and the optimal control strategy is obtained which can solve the differential-driven USV energy consumption problem. The stability of the concerned system with designed controller is analysed by Lyapunov stability theory. Simulation studies on a differential-driven USV are given to illustrate the effectiveness of the designed control method.