Trajectory tracking control for under-actuated hovercraft using differential flatness and reinforcement learning-based active disturbance rejection control

DOI10.1007/S11424-022-2037-0MaRDI QIDQ2165404zbMATH OpenOpenAlexFDO

Authors Xiangyu Kong, Yuanqing Xia, Rui Hu, Min Lin, Zhongqi Sun, Li Dai

Publication date 19 August 2022

Published in Journal of Systems Science and Complexity (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1007/s11424-022-2037-0

zbMATH Keywords

active disturbance rejection controldifferential flatnessreinforcement learningtrajectory tracking controlunder-actuated system

Mathematics Subject Classification ID

Observers (93B53) Nonlinear systems in control theory (93C10) Perturbations in control/observation systems (93C73)

Recommendations

• Safety-guaranteed trajectory tracking control for the underactuated hovercraft with state and input constraints
• Barrier Lyapunov function-based adaptive control of an uncertain hovercraft with position and velocity constraints
• Nonlinear control for trajectory tracking of a nonholonomic RC-hovercraft with discrete inputs
• Data-driven robust tracking control of underactuated mechanical systems using identified flat output and active disturbance rejection control
• Iterative sliding mode control based on reinforced learning and used for path tracking of under-actuated ship

Cites work

• Adaptive dynamic programming and optimal control of nonlinear nonaffine systems
• An optimal control approach to robust control design
• Application of active disturbance rejection control in tank gun control system
• Data-based approximate policy iteration for affine nonlinear continuous-time optimal control design
• Differential flatness-based ADRC scheme for underactuated fractional-order systems
• Flatness-based adaptive sliding mode tracking control for a quadrotor with disturbances
• Global tracking control of underactuated ships by Lyapunov's direct method
• High-order fully actuated system approaches. I: Models and basic procedure
• High-order fully actuated system approaches. II: Generalized strict-feedback systems
• High-order fully actuated system approaches. III: Robust control and high-order backstepping
• On the control of the hovercraft system
• Trajectory planning and tracking for four-wheel steering vehicle based on differential flatness and active disturbance rejection controller
• Underactuated ship global tracking under relaxed conditions

Cited in

(8)

• Safety-guaranteed trajectory tracking control for the underactuated hovercraft with state and input constraints
• Editorial: Fully actuated system approaches: theory and applications
• Iterative sliding mode control based on reinforced learning and used for path tracking of under-actuated ship
• Nonlinear control for trajectory tracking of a nonholonomic RC-hovercraft with discrete inputs
• A bio-inspired integration model of basal ganglia and cerebellum for motion learning of a musculoskeletal robot
• Saturated adaptive control for high-order fully actuated systems with an extended state
• A LESO based backstepping controller considering coal seam Hardness for rotary speed in coal mine tunnel drilling process
• Trajectory generation based on Bézier curve and its application to cooperative transportation

This page was built for publication: Trajectory tracking control for under-actuated hovercraft using differential flatness and reinforcement learning-based active disturbance rejection control

Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q2165404)