Researching | Adaptive control of unmanned surface vehicle based on improved DDPG algorithm

Chinese Journal of Ship Research, Volume. 19, Issue 1, 137(2024)

Adaptive control of unmanned surface vehicle based on improved DDPG algorithm

Lifei SONG^1,2, Chuanyi XU^1,2, Le HAO^1,2, Rong GUO^1,2, and Wei CHAI^1,2

Author Affiliations

¹Key Laboratory of High Performance Ship Technology of Ministry of Education, Wuhan University of Technology, Wuhan 430063, China

²School of Naval Architecture, Ocean and Energy Power Engineering, Wuhan University of Technology, Wuhan 430063, China

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Table 1. Comparison of error data of two controllers in the case of follower disturbance
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Table 1. Comparison of error data of two controllers in the case of follower disturbance
控制器稳定后横向误差均值/m 稳定后航向角偏差均值/(°)
改进DDPG 0.291 0.80
DDPG 0.425 2.08
自适应PID^[16] 0.997 3.02

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Lifei SONG, Chuanyi XU, Le HAO, Rong GUO, Wei CHAI. Adaptive control of unmanned surface vehicle based on improved DDPG algorithm[J]. Chinese Journal of Ship Research, 2024, 19(1): 137

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Paper Information

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Received: Oct. 11, 2022

Accepted: --

Published Online: Mar. 18, 2025

The Author Email:

DOI:10.19693/j.issn.1673-3185.03122

Topics

laser devices and laser physics

Lasers and Laser Optics

laser manufacturing

Instrumentation, Measurement and Metrology