Online Approximate Optimal Station Keeping of a Marine Craft in the Presence of an Irrotational Current

Online approximation of the optimal station-keeping strategy for a marine craft subject to an irrotational current is considered. An approximate policy that minimizes a user-defined cost function over an infinite time horizon is obtained using an actor-critic-identifier-based adaptive dynamic progra...

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Bibliographic Details
Published in:IEEE transactions on robotics 2018-04, Vol.34 (2), p.486-496
Main Authors: Walters, Patrick, Kamalapurkar, Rushikesh, Voight, Forrest, Schwartz, Eric M., Dixon, Warren E.
Format: Article
Language:English
Subjects:
Acceleration
Adaptation models
Adaptive dynamic programming (ADP)
Autonomous underwater vehicles
Convergence
Dynamic programming
Fluid mechanics
Hydrodynamics
marine craft
Mathematical model
nonlinear control
Parameter identification
station keeping
Transmission line matrix methods
Vehicle dynamics
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Summary:Online approximation of the optimal station-keeping strategy for a marine craft subject to an irrotational current is considered. An approximate policy that minimizes a user-defined cost function over an infinite time horizon is obtained using an actor-critic-identifier-based adaptive dynamic programming technique. The hydrodynamic drift dynamics are assumed to be unknown; therefore, a concurrent learning-based system identifier is developed to identify the unknown model parameters. The identified model is used to implement an adaptive model-based reinforcement learning technique to estimate the unknown value function. The developed policy guarantees uniformly ultimately bounded convergence of the vehicle to the desired station and uniformly ultimately bounded convergence of the approximated policies to the optimal polices without the requirement of persistence of excitation. The developed strategy is validated using an autonomous underwater vehicle, where the three degrees-of-freedom in the horizontal plane are regulated. The experiments are conducted in a second-magnitude spring located in central Florida.
ISSN:1552-3098
1941-0468
DOI:10.1109/TRO.2018.2791600