Adaptive critic designs for self-learning ship steering control

A nonlinear controller for marine vehicle Control roll motion of ship

“…The proposed nonlinear control scheme above will guarantee the globally asymptotical stability for system (4), and is proven in Theorem 1. Theorem 1.…”

“…As it was said, in recent years, interest in the safe navigation of ship has experienced a substantial increase [3], [4] and roll motion is an undesirable feature of the behavior of a ship in rough seas, and so it is natural to consider ways of reducing it. The most common devices for increasing roll damping are bilge keels.…”

Adaptive Critic Designs-based autonomous unmanned vehicles navigation: Application to robotic farm vehicles

“…The weight update, during the p th training iteration, is given by (12) where, 0 1 > η is the learning rate and W c , the i th component of Wc . Note that the gradient method is used in (12) and that the p th corresponds to certain time instant k [hence the use E 1 (k) in (12)].…”

“…Note that the gradient method is used in (12) and that the p th corresponds to certain time instant k [hence the use E 1 (k) in (12)]. The weight update can also be performed in batch mode, e.g., after the completion of each trajectory.…”

“…In this paper we propose the use of ACDs to design autonomously an optimal path planning and control strategy for robotic unmanned vehicles, in particular for a mobile robot, and following a previous work [12], and [13].…”