Adaptive trajectory controller design for unmanned surface vehicles based on SAC-PID

An adaptive proportional integral derivative (PID) controller based on the soft actor-critic (SAC) algorithm for trajectory control of unmanned surface vehicles (USV) is proposed in this paper. The gains of the PID controller need to be manually adjusted based on experience in the original formulati...

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Vydané v:	Brodogradnja Ročník 76; číslo 2; s. 1 - 22
Hlavní autori:	Guan, Wei, Xi, Zhaoyong, Cui, Zhewen, Zhang, Xianku
Médium:	Journal Article Paper
Jazyk:	English
Vydavateľské údaje:	Sveučilište u Zagrebu Fakultet strojarstva i brodogradnje 01.01.2025 Faculty of Mechanical Engineering and Naval Architecture
Predmet:	Deep reinforcement learning PID tuning soft actor critic unmanned surface vehicle
ISSN:	0007-215X, 1845-5859
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