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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Bibliographic Details

Published in:	Brodogradnja Vol. 76; no. 2; pp. 1 - 22
Main Authors:	Guan, Wei, Xi, Zhaoyong, Cui, Zhewen, Zhang, Xianku
Format:	Journal Article Paper
Language:	English
Published:	Sveučilište u Zagrebu Fakultet strojarstva i brodogradnje 01.01.2025 Faculty of Mechanical Engineering and Naval Architecture
Subjects:	Deep reinforcement learning PID tuning soft actor critic unmanned surface vehicle
ISSN:	0007-215X, 1845-5859
Online Access:	Get full text
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