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

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

n 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 formulatio...

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Bibliographic Details
Main Authors: Wei Guan, Zhaoyong Xi, Zhewen Cui, Xianku Zhang
Format: Article
Language:English
Published: Faculty of Mechanical Engineering and Naval Architecture 2025-01-01
Series:Brodogradnja
Subjects:
deep reinforcement learning
unmanned surface vehicle
soft actor critic
pid tuning
Online Access:https://hrcak.srce.hr/file/476944
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