Adaptive dynamic programming-based optimal trajectory tracking control of a differential-driven unmanned surface vessel.
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| Title: | Adaptive dynamic programming-based optimal trajectory tracking control of a differential-driven unmanned surface vessel. |
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| Authors: | Lin, Guanting1 (AUTHOR), Teng, Fei1 (AUTHOR) tengfei@dlmu.edu.cn, Yang, Ang2 (AUTHOR), Yu, Renhai3 (AUTHOR), Su, Yuanbo3 (AUTHOR), Li, Tieshan4 (AUTHOR) |
| Source: | International Journal of Systems Science. Jul2026, Vol. 57 Issue 9, p2808-2825. 18p. |
| Subjects: | Optimal control theory, Robotic trajectory control, Adaptive control systems, Lyapunov stability, Dynamic programming, Differentiable dynamical systems, Ships, Energy consumption |
| Abstract: | In this paper, an optimal control strategy for trajectory tracking based on adaptive dynamic programming (ADP) is proposed, which can track the reference trajectory accurately and ensure the optimal energy consumption of unmanned surface vessel (USV). The model of the propeller motor system is established for the differential-driven USV, and the pulse width modulation (PWM) duty cycle of the propeller motor is adopted as the direct control input, which is convenient in practical application. The ADP method is used to approximate the Hamilton-Jacobi-Bellman (HJB) equation by actor-critic neural network (NN), and the optimal control strategy is obtained which can solve the differential-driven USV energy consumption problem. The stability of the concerned system with designed controller is analysed by Lyapunov stability theory. Simulation studies on a differential-driven USV are given to illustrate the effectiveness of the designed control method. [ABSTRACT FROM AUTHOR] |
| Copyright of International Journal of Systems Science is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.) | |
| Database: | Engineering Source |
| FullText | Text: Availability: 0 |
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| Header | DbId: egs DbLabel: Engineering Source An: 194490099 AccessLevel: 6 PubType: Academic Journal PubTypeId: academicJournal PreciseRelevancyScore: 0 |
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| Items | – Name: Title Label: Title Group: Ti Data: Adaptive dynamic programming-based optimal trajectory tracking control of a differential-driven unmanned surface vessel. – Name: Author Label: Authors Group: Au Data: <searchLink fieldCode="AR" term="%22Lin%2C+Guanting%22">Lin, Guanting</searchLink><relatesTo>1</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Teng%2C+Fei%22">Teng, Fei</searchLink><relatesTo>1</relatesTo> (AUTHOR)<i> tengfei@dlmu.edu.cn</i><br /><searchLink fieldCode="AR" term="%22Yang%2C+Ang%22">Yang, Ang</searchLink><relatesTo>2</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Yu%2C+Renhai%22">Yu, Renhai</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Su%2C+Yuanbo%22">Su, Yuanbo</searchLink><relatesTo>3</relatesTo> (AUTHOR)<br /><searchLink fieldCode="AR" term="%22Li%2C+Tieshan%22">Li, Tieshan</searchLink><relatesTo>4</relatesTo> (AUTHOR) – Name: TitleSource Label: Source Group: Src Data: <searchLink fieldCode="JN" term="%22International+Journal+of+Systems+Science%22">International Journal of Systems Science</searchLink>. Jul2026, Vol. 57 Issue 9, p2808-2825. 18p. – Name: Subject Label: Subjects Group: Su Data: <searchLink fieldCode="DE" term="%22Optimal+control+theory%22">Optimal control theory</searchLink><br /><searchLink fieldCode="DE" term="%22Robotic+trajectory+control%22">Robotic trajectory control</searchLink><br /><searchLink fieldCode="DE" term="%22Adaptive+control+systems%22">Adaptive control systems</searchLink><br /><searchLink fieldCode="DE" term="%22Lyapunov+stability%22">Lyapunov stability</searchLink><br /><searchLink fieldCode="DE" term="%22Dynamic+programming%22">Dynamic programming</searchLink><br /><searchLink fieldCode="DE" term="%22Differentiable+dynamical+systems%22">Differentiable dynamical systems</searchLink><br /><searchLink fieldCode="DE" term="%22Ships%22">Ships</searchLink><br /><searchLink fieldCode="DE" term="%22Energy+consumption%22">Energy consumption</searchLink> – Name: Abstract Label: Abstract Group: Ab Data: In this paper, an optimal control strategy for trajectory tracking based on adaptive dynamic programming (ADP) is proposed, which can track the reference trajectory accurately and ensure the optimal energy consumption of unmanned surface vessel (USV). The model of the propeller motor system is established for the differential-driven USV, and the pulse width modulation (PWM) duty cycle of the propeller motor is adopted as the direct control input, which is convenient in practical application. The ADP method is used to approximate the Hamilton-Jacobi-Bellman (HJB) equation by actor-critic neural network (NN), and the optimal control strategy is obtained which can solve the differential-driven USV energy consumption problem. The stability of the concerned system with designed controller is analysed by Lyapunov stability theory. Simulation studies on a differential-driven USV are given to illustrate the effectiveness of the designed control method. [ABSTRACT FROM AUTHOR] – Name: AbstractSuppliedCopyright Label: Group: Ab Data: <i>Copyright of International Journal of Systems Science is the property of Taylor & Francis Ltd and its content may not be copied or emailed to multiple sites without the copyright holder's express written permission. Additionally, content may not be used with any artificial intelligence tools or machine learning technologies. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract.</i> (Copyright applies to all Abstracts.) |
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| RecordInfo | BibRecord: BibEntity: Identifiers: – Type: doi Value: 10.1080/00207721.2025.2563112 Languages: – Code: eng Text: English PhysicalDescription: Pagination: PageCount: 18 StartPage: 2808 Subjects: – SubjectFull: Optimal control theory Type: general – SubjectFull: Robotic trajectory control Type: general – SubjectFull: Adaptive control systems Type: general – SubjectFull: Lyapunov stability Type: general – SubjectFull: Dynamic programming Type: general – SubjectFull: Differentiable dynamical systems Type: general – SubjectFull: Ships Type: general – SubjectFull: Energy consumption Type: general Titles: – TitleFull: Adaptive dynamic programming-based optimal trajectory tracking control of a differential-driven unmanned surface vessel. Type: main BibRelationships: HasContributorRelationships: – PersonEntity: Name: NameFull: Lin, Guanting – PersonEntity: Name: NameFull: Teng, Fei – PersonEntity: Name: NameFull: Yang, Ang – PersonEntity: Name: NameFull: Yu, Renhai – PersonEntity: Name: NameFull: Su, Yuanbo – PersonEntity: Name: NameFull: Li, Tieshan IsPartOfRelationships: – BibEntity: Dates: – D: 01 M: 07 Text: Jul2026 Type: published Y: 2026 Identifiers: – Type: issn-print Value: 00207721 Numbering: – Type: volume Value: 57 – Type: issue Value: 9 Titles: – TitleFull: International Journal of Systems Science Type: main |
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