| Title | DDPG based LADRC trajectory tracking control for underactuated unmanned ship under environmental disturbances |
| Authors | Zheng, Yuemin Tao, Jin Hartikainen, Jouni Duan, Feng Sun, Hao Sun, Mingwei Sun, Qinglin Zeng, Xianyi Chen, Zengqiang Xie, Guangming |
| Affiliation | Nankai Univ, Coll Artificial Intelligence, Tianjin 300350, Peoples R China Silo AI, Helsinki 00100, Finland Univ Lille, ENSAIT, F-59100 Roubaix, France Peking Univ, Coll Engn, Beijing 100871, Peoples R China |
| Keywords | REJECTION ALGORITHM |
| Issue Date | 1-Mar-2023 |
| Publisher | OCEAN ENGINEERING |
| Abstract | Realizing trajectory tracking control of underactuated unmanned ships is critical for safe and stable navigation during offshore operations. The principal difficulties of this task lie in the coupling problem caused by the underactuated system and the uncertainty caused by the modeling error, internal parameter perturbations, and external environment. In this paper, a three-degree-of-freedom ship model is first built based on the manipulative modeling group equation. Then, a trajectory tracking line-of-sight guidance law is proposed to achieve the desired heading angle and forward speed during trajectory tracking, and the Lyapunov function is used to analyze its stability. Furthermore, the heading angle controller and forward speed controller are designed based on the linear active disturbance rejection control framework. In addition, to solve the challenging problem of controller parameter tuning and further improve the controller's robustness, the Deep Deterministic Policy Gradient algorithm is applied to adjust the controller parameters. Finally, the effectiveness of the proposed method is verified by the simulation results of sinusoidal, circular, and square trajectories with wind and current disturbances. |
| URI | http://hdl.handle.net/20.500.11897/670307 |
| ISSN | 0029-8018 |
| DOI | 10.1016/j.oceaneng.2023.113667 |
| Indexed | SCI(E) |
| Appears in Collections: | 工学院 |
