Reinforcement learning-based close formation control for underactuated surface vehicle with prescribed performance and time-varying state constraints

• Published in: Ocean engineering Vol. 256; p. 111361
• Main Authors: Chen, Huizi, Yan, Huaicheng, Wang, Yueying, Xie, Shaorong, Zhang, Dan
• Format: Journal Article
• Language: English
• Published: Elsevier Ltd 15.07.2022
• Subjects: Actor-critic neural network; Close formation control; Finite-time sliding mode control; Prescribed formation performance; Reinforcement learning; Time-varying state constraints; Finite-time sliding mode control; Time-varying state constraints; Prescribed formation performance; Close formation control; Actor-critic neural network; Reinforcement learning

This paper studies close formation control problem with prescribed performance and time-varying state constraints for a group of 4-degrees-of-freedom (DOF) underactuated surface vehicles (USVs) subject to actuator faults, input saturation and input delay. A finite-time sliding mode control (SMC) sch...