Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning
文献类型：期刊论文
| 作者 | Wenqiang Cao; Jing Yan; Xian Yang; Xiaoyuan Luo; Xinping Guan |
| 刊名 | IEEE/CAA Journal of Automatica Sinica
 |
| 出版日期 | 2023 |
| 卷号 | 10期号:1页码:159-176 |
| 关键词 | Autonomous underwater vehicles (AUVs) communication-aware formation reinforcement learning uncertainty |
| ISSN号 | 2329-9266 |
| DOI | 10.1109/JAS.2023.123021 |
| 英文摘要 | Most formation approaches of autonomous underwater vehicles (AUVs) focus on the control techniques, ignoring the influence of underwater channel. This paper is concerned with a communication-aware formation issue for AUVs, subject to model uncertainty and fading channel. An integral reinforcement learning (IRL) based estimator is designed to calculate the probabilistic channel parameters, wherein the multivariate probabilistic collocation method with orthogonal fractional factorial design (M-PCM-OFFD) is employed to evaluate the uncertain channel measurements. With the estimated signal-to-noise ratio (SNR), we employ the IRL and M-PCM-OFFD to develop a saturated formation controller for AUVs, dealing with uncertain dynamics and current parameters. For the proposed formation approach, an integrated optimization solution is presented to make a balance between formation stability and communication efficiency. Main innovations lie in three aspects: 1) Construct an integrated communication and control optimization framework; 2) Design an IRL-based channel prediction estimator; 3) Develop an IRL-based formation controller with M-PCM-OFFD. Finally, simulation results show that the formation approach can avoid local optimum estimation, improve the channel efficiency, and relax the dependence of AUV model parameters. |
| 源URL | [http://ir.ia.ac.cn/handle/173211/50733]  |
| 专题 | 自动化研究所_学术期刊_IEEE/CAA Journal of Automatica Sinica |
| 推荐引用方式 GB/T 7714 | Wenqiang Cao,Jing Yan,Xian Yang,et al. Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning[J]. IEEE/CAA Journal of Automatica Sinica,2023,10(1):159-176. |
| APA | Wenqiang Cao,Jing Yan,Xian Yang,Xiaoyuan Luo,&Xinping Guan.(2023).Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning.IEEE/CAA Journal of Automatica Sinica,10(1),159-176. |
| MLA | Wenqiang Cao,et al."Communication-Aware Formation Control of AUVs With Model Uncertainty and Fading Channel via Integral Reinforcement Learning".IEEE/CAA Journal of Automatica Sinica 10.1(2023):159-176. |
入库方式： OAI收割
来源：自动化研究所
浏览0
下载0
收藏0
其他版本
除非特别说明，本系统中所有内容都受版权保护，并保留所有权利。