Robust-adaptive dynamic programming-based time-delay control of autonomous ships under stochastic disturbances using an actor-critic learning algorithm

Abstract This paper proposes a hybrid robust-adaptive learning-based control scheme based on Approximate Dynamic Programming (ADP) for the tracking of autonomous ship maneuvering. We adopt Time-Delay Control (TDC) approach, which is known as simple, practical, model free and roughly robust strategy, combined with an Actor-Critic (ACADP) algorithm adaptive part in proposed algorithm. Based this integration, (AC-TDC) proposed. It offers high-performance approach path following ships under deterministic stochastic disturbances induced by winds, waves, ocean currents. Computer simulations have been conducted two different conditions terms all simulation results indicate acceptable performance paths comparison conventional TDC approach.