CASIA OpenIR
Adaptive Tracking Control of Surface Vessel Using Optimized Backstepping Technique
Wen, Guoxing1; Ge, Shuzhi Sam2,3; Chen, C. L. Philip4,5,6; Tu, Fangwen2; Wang, Shengnan7
Source PublicationIEEE TRANSACTIONS ON CYBERNETICS
ISSN2168-2267
2019-09-01
Volume49Issue:9Pages:3420-3431
Corresponding AuthorWen, Guoxing(gxwen@live.cn)
AbstractIn this paper, a tracking control approach for surface vessel is developed based on the new control technique named optimized backstepping (OB), which considers optimization as a backstepping design principle. Since surface vessel systems are modeled by second-order dynamic in strict feedback form, backstepping is an ideal technique for finishing the tracking task. In the backstepping control of surface vessel, the virtual and actual controls are designed to be the optimized solutions of corresponding subsystems, therefore the overall control is optimized. In general, optimization control is designed based on the solution of Hamilton-Jacobi-Bellman equation. However, solving the equation is very difficult or even impossible due to the inherent nonlinearity and complexity. In order to overcome the difficulty, the reinforcement learning (RL) strategy of actor-critic architecture is usually considered, of which the critic and actor are utilized for evaluating the control performance and executing the control behavior, respectively. By employing the actor-critic RL algorithm for both virtual and actual controls of the vessel, it is proven that the desired optimizing and tracking performances can be arrived. Simulation results further demonstrate effectiveness of the proposed surface vessel control.
KeywordActor-critic architecture Lyapunov stability optimized backstepping (OB) reinforcement learning (RL) surface vessel
DOI10.1109/TCYB.2018.2844177
WOS KeywordNONLINEAR-SYSTEMS ; ROBUST-CONTROL ; STABILIZATION
Indexed BySCI
Language英语
Funding ProjectShandong Provincial Natural Science Foundation, China[ZR2018MF015] ; Binzhou University[2016Y14] ; National Natural Science Foundation of China[61572540] ; National Natural Science Foundation of China[61603094] ; National Natural Science Foundation of China[61703050] ; Macau Science and Technology Development Fund[019/2015/A] ; Macau Science and Technology Development Fund[024/2015/AMJ] ; Macau Science and Technology Development Fund[079/2017/A2] ; University Macau MYR Grant
Funding OrganizationShandong Provincial Natural Science Foundation, China ; Binzhou University ; National Natural Science Foundation of China ; Macau Science and Technology Development Fund ; University Macau MYR Grant
WOS Research AreaAutomation & Control Systems ; Computer Science
WOS SubjectAutomation & Control Systems ; Computer Science, Artificial Intelligence ; Computer Science, Cybernetics
WOS IDWOS:000470988800017
PublisherIEEE-INST ELECTRICAL ELECTRONICS ENGINEERS INC
Citation statistics
Cited Times:4[WOS]   [WOS Record]     [Related Records in WOS]
Document Type期刊论文
Identifierhttp://ir.ia.ac.cn/handle/173211/27849
Collection中国科学院自动化研究所
Corresponding AuthorWen, Guoxing
Affiliation1.Binzhou Univ, Dept Math, Binzhou 256600, Peoples R China
2.Natl Univ Singapore, Dept Elect & Comp Engn, Singapore 117576, Singapore
3.Natl Univ Singapore, Social Robot Lab, Interact Digital Media Inst, Singapore 117576, Singapore
4.Univ Macau, Fac Sci & Technol, Dept Comp & Informat Sci, Macau 99999, Peoples R China
5.Dalian Maritime Univ, Nav Coll, Dalian 116026, Peoples R China
6.Chinese Acad Sci, Inst Automat, State Key Lab Management & Control Complex Syst, Beijing 100080, Peoples R China
7.Binzhou Univ, Sch Econ & Management, Binzhou 256600, Peoples R China
Recommended Citation
GB/T 7714
Wen, Guoxing,Ge, Shuzhi Sam,Chen, C. L. Philip,et al. Adaptive Tracking Control of Surface Vessel Using Optimized Backstepping Technique[J]. IEEE TRANSACTIONS ON CYBERNETICS,2019,49(9):3420-3431.
APA Wen, Guoxing,Ge, Shuzhi Sam,Chen, C. L. Philip,Tu, Fangwen,&Wang, Shengnan.(2019).Adaptive Tracking Control of Surface Vessel Using Optimized Backstepping Technique.IEEE TRANSACTIONS ON CYBERNETICS,49(9),3420-3431.
MLA Wen, Guoxing,et al."Adaptive Tracking Control of Surface Vessel Using Optimized Backstepping Technique".IEEE TRANSACTIONS ON CYBERNETICS 49.9(2019):3420-3431.
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