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

Yinkun Li Yawen Zhou Yufeng Zhou Li Chai

Journal of Automation and Intelligence2026，Vol.5Issue(1)：P.24-34,11.

Journal of Automation and Intelligence2026，Vol.5Issue(1)：P.24-34,11.DOI:10.1016/j.jai.2025.09.002

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

Yinkun Li ¹Yawen Zhou ¹Yufeng Zhou ¹Li Chai²

作者信息

1. School of Artificial Intelligence and Automation,Wuhan University of Science and Technology,Wuhan,430081,China
2. State Key Laboratory of Industrial Control Technology,College of Control Science and Engineering,Zhejiang University,Hangzhou,310027,China Huzhou Institute of Industrial Control Technology,Huzhou,310027,China
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摘要

关键词

Extended state observer/Actor–critic networks/Reinforcement learning/Backstepping method/Underactuated surface vessel

分类

交通工程

引用本文复制引用

Yinkun Li,Yawen Zhou,Yufeng Zhou,Li Chai..Adaptive optimal tracking control for underactuated surface vessels using extended state observer and reinforcement learning[J].Journal of Automation and Intelligence,2026,5(1):P.24-34,11.

基金项目

supported by the National Natural Science Foundation of China under Grants 62203338,62173259 and U1913602 （）

Zhejiang Provincial Natural Science Foundation of China under Grant LZ24F0390006 （）

the Postdoctoral Science Foundation of China under Grant 2022M722485. （）

Journal of Automation and Intelligence

ISSN：2097-504X

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