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Underactuated AUV course stability control based on optimal deep reinforcement learning with external disturbances and input constraints

Zhan-Yuan Wang Rongmin Chen Yu-Chen Liao Yanyun Wang Fu-Qiang Luo Jiaxi Wang Shuoshuo Ding Cheng-Fu Liu Da-Peng Jiang Kailin Xin
Jul 2026 · International Journal of Dynamics and Control · Vol 14 · 0 citations · 54 references

TL;DR

Simulation results demonstrate that the proposed controller accurately drives the underactuated AUV to follow the desired course despite ED and IC, and it also shows clear advantages over other comparison methods.

DOI Semantic Scholar
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