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• W3210006851 abstract "In this paper, subject to completely unknown system dynamics and input constraints, a reinforcement learning-based finite-time trajectory tracking control (RLFTC) scheme is innovatively created for an unmanned surface vehicle (USV) by combining actor-critic reinforcement learning (RL) mechanism with finite-time control technique. Unlike previous RL-based tracking which requires infinite-time convergence thereby rather sensitive to complex unknowns, an actor-critic finite-time control structure is created by employing adaptive neural network identifiers to recursively update actor and critic, such that learning-based robustness can be sufficiently enhanced. Moreover, deduced from the Bellman error formulation, the proposed RLFTC is directly optimized in a finite-time manner. Theoretical analysis eventually shows that the proposed RLFTC scheme can ensure semi-global practical finite-time stability (SGPFS) for a closed-loop USV system and tracking errors converge to an arbitrarily small neighborhood of the origin in a finite time, subject to optimal cost. Both mathematical simulation and virtual-reality experiments demonstrate remarkable effectiveness and superiority of the proposed RLFTC scheme." @default.
• W3210006851 created "2021-11-08" @default.
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• W3210006851 date "2022-05-01" @default.
• W3210006851 modified "2023-10-16" @default.
• W3210006851 title "Reinforcement learning-based finite-time tracking control of an unknown unmanned surface vehicle with input constraints" @default.
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• W3210006851 doi "https://doi.org/10.1016/j.neucom.2021.04.133" @default.
• W3210006851 hasPublicationYear "2022" @default.
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