Advances in Computational Design

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Advanced controller design for AUV based on adaptive dynamic programming

  • Chen, Tim (AI Lab, Faculty of Information Technology, Ton Duc Thang University) ;
  • Khurram, Safiullahand (Department of Computer Science, Kunduz University) ;
  • Zoungrana, Joelli (School of Intelligent Science, Colinas University of Boe) ;
  • Pandey, Lallit (Department of Soil Science, Patuakhali Science and Technology University) ;
  • Chen, J.C.Y. (Department of Soil Science, Patuakhali Science and Technology University)
  • Received : 2019.11.22
  • Accepted : 2019.02.08
  • Published : 2020.07.25
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Abstract

The main purpose to introduce model based controller in proposed control technique is to provide better and fast learning of the floating dynamics by means of fuzzy logic controller and also cancelling effect of nonlinear terms of the system. An iterative adaptive dynamic programming algorithm is proposed to deal with the optimal trajectory-tracking control problems for autonomous underwater vehicle (AUV). The optimal tracking control problem is converted into an optimal regulation problem by system transformation. Then the optimal regulation problem is solved by the policy iteration adaptive dynamic programming algorithm. Finally, simulation example is given to show the performance of the iterative adaptive dynamic programming algorithm.

Keywords

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