• Corpus ID: 211020892

Proportional integral derivative controller assisted reinforcement learning for path following by autonomous underwater vehicles

  title={Proportional integral derivative controller assisted reinforcement learning for path following by autonomous underwater vehicles},
  author={Simen Theie Havenstrom and Camilla Sterud and Adil Rasheed and Omer San},
Control theory provides engineers with a multitude of tools to design controllers that manipulate the closed-loop behavior and stability of dynamical systems. These methods rely heavily on insights about the mathematical model governing the physical system. However, if a system is highly complex, it might be infeasible to produce a reliable mathematical model of the system. Without a model most of the theoretical tools to develop control laws break down. In these settings, machine learning… 


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