ABSTRACT
In this article, the tracking control problem of autonomous underwater vehicle (AUV) is considered. The main contribution is to give the explicitly optimal tracking controller by using a Q-learning algorithm when the system model is unknown. The key is to discretize and linearize the kinematic equation of AUV, and then the Q-factors are expressed as functions of input-output vectors. In particular, a simulation study is carried out to demonstrate the effectiveness of the proposed method.
International Journal of Robust and Nonlinear Control, EarlyView. Read More
