Adaptive optimal tracking control for underactuated surface vessels using extended state observer and reinforcement learning

This paper investigates the adaptive optimal tracking control (AOTC) for underactuated surface vessels (USVs). Compared to the majority of existing studies, the control strategy in this paper innovatively combines an extended state observer (ESO) with reinforcement learning (RL). The designed ESO ha...

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Prif Awduron:	Yinkun Li, Yawen Zhou, Yufeng Zhou, Li Chai
Fformat:	Artigo
Iaith:	Inglês
Cyhoeddwyd:	KeAi Communications Co., Ltd. 2026-03-01
Cyfres:	Journal of Automation and Intelligence
Pynciau:	Extended state observer Actor–critic networks Reinforcement learning Backstepping method Underactuated surface vessel
Mynediad Ar-lein:	http://www.sciencedirect.com/science/article/pii/S2949855425000541
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