Optimal Sliding Mode Control of ROV Fixed Depth Attitude Based on Reinforcement Learning

CORC > 沈阳自动化研究所 > 中国科学院沈阳自动化研究所 > 水下机器人研究室

	Optimal Sliding Mode Control of ROV Fixed Depth Attitude Based on Reinforcement Learning
	Wang, Fule 2; Qu QX(屈秋霞)2; Yuan, Baolong 2; Sun LL(孙亮亮)2; Li YP(李宇鹏)2; Guo, Guanyan 2; Xiao, Zupeng 2; Sun, Liang 2; Li ZG(李智刚)2
	2021
会议日期	July 27-31, 2021
会议地点	Jiaxing, China
页码	79-84
英文摘要	In this paper, an integral sliding mode control algorithm based on reinforcement learning is proposed for underwater vehicle depth determination control system. Since it is difficult for nonlinear continuous systems to track time-varying trajectories, the optimal tracking problem is transformed into a nonlinear time invariant optimal control problem by introducing a new state variable. The HJB equation of nonlinear systems is solved by adaptive dynamic programming (ADP) algorithm to find an approximate optimal strategy. Combined with integral sliding mode control, an approximate optimal sliding mode controller is designed. In addition, the Lyapunov equation is used to verify that the control strategy proposed in this paper can ensure that the tracking error of the system converges to zero gradually, and the error is also verified in a small range. Finally, the effectiveness of the algorithm is verified by simulation experiments, which enhances the anti-interference and robustness of the underwater robot in the depth control direction. © 2021 IEEE.
源文献作者	IEEE Robotics and Automation Society ; Shenyang Institute of Automation CAS ; Shenzhen Academy of Robotics
产权排序	2
会议录	2021 IEEE 11th International Conference on CYBER Technology in Automation, Control, and Intelligent Systems, CYBER 2021
会议录出版者	IEEE
会议录出版地	New York
语种	英语
ISSN号	2642-6633
ISBN号	978-1-6654-2527-8
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/29931]
专题	沈阳自动化研究所_水下机器人研究室
通讯作者	Wang, Fule
作者单位	1.Shenyang Institute of Automation, Chinese Academy of Science, Shenyang, 1101669, China 2.School of Information and Control Engineering, Shenyang Jianzhu University, Shenyang, 110168, China
推荐引用方式 GB/T 7714	Wang, Fule,Qu QX,Yuan, Baolong,et al. Optimal Sliding Mode Control of ROV Fixed Depth Attitude Based on Reinforcement Learning[C]. 见:. Jiaxing, China. July 27-31, 2021.