Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning

doi:10.1109/JAS.2023.123021

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	Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning
	Wenqiang Cao; Jing Yan; Xian Yang; Xiaoyuan Luo; Xinping Guan
发表期刊	IEEE/CAA Journal of Automatica Sinica
ISSN	2329-9266
	2023
卷号	10 期号:1 页码:159-176
摘要	Most formation approaches of autonomous underwater vehicles (AUVs) focus on the control techniques, ignoring the influence of underwater channel. This paper is concerned with a communication-aware formation issue for AUVs, subject to model uncertainty and fading channel. An integral reinforcement learning (IRL) based estimator is designed to calculate the probabilistic channel parameters, wherein the multivariate probabilistic collocation method with orthogonal fractional factorial design (M-PCM-OFFD) is employed to evaluate the uncertain channel measurements. With the estimated signal-to-noise ratio (SNR), we employ the IRL and M-PCM-OFFD to develop a saturated formation controller for AUVs, dealing with uncertain dynamics and current parameters. For the proposed formation approach, an integrated optimization solution is presented to make a balance between formation stability and communication efficiency. Main innovations lie in three aspects: 1) Construct an integrated communication and control optimization framework; 2) Design an IRL-based channel prediction estimator; 3) Develop an IRL-based formation controller with M-PCM-OFFD. Finally, simulation results show that the formation approach can avoid local optimum estimation, improve the channel efficiency, and relax the dependence of AUV model parameters.
关键词	Autonomous underwater vehicles (AUVs) communication-aware formation reinforcement learning uncertainty
DOI	10.1109/JAS.2023.123021
引用统计	被引频次：7[WOS] [WOS记录] [WOS相关记录]
文献类型	期刊论文
条目标识符	http://ir.ia.ac.cn/handle/173211/50733
专题	学术期刊_IEEE/CAA Journal of Automatica Sinica
推荐引用方式 GB/T 7714	Wenqiang Cao,Jing Yan,Xian Yang,et al. Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(1):159-176.
APA	Wenqiang Cao,Jing Yan,Xian Yang,Xiaoyuan Luo,&Xinping Guan.(2023).Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning.IEEE/CAA Journal of Automatica Sinica,10(1),159-176.
MLA	Wenqiang Cao,et al."Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning".IEEE/CAA Journal of Automatica Sinica 10.1(2023):159-176.

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