PID Tuning using Cross-Entropy Deep Learning: a Lyapunov Stability Analysis

arXiv:2404.12025v1 Announce Type: cross
Abstract: Underwater Unmanned Vehicles (UUVs) have to constantly compensate for the external disturbing forces acting on their body. Adaptive Control theory is commonly used there to grant the control law some flexibility in its response to process variation. Today, learning-based (LB) adaptive methods are leading the field where model-based control structures are combined with deep model-free learning algorithms. This work proposes experiments and metrics to empirically study the stability of such a controller. We perform this …

abstract acting analysis arxiv control cross-entropy cs.lg cs.ro cs.sy deep learning eess.sy entropy flexibility grant law process stability theory type underwater variation vehicles