Online Approximate Optimal Station Keeping of a Marine Craft in the Presence of an Irrotational Current.

Online approximation of the optimal station-keeping strategy for a marine craft subject to an irrotational current is considered. An approximate policy that minimizes a user-defined cost function over an infinite time horizon is obtained using an actor-critic-identifier-based adaptive dynamic programming technique. The hydrodynamic drift dynamics are assumed to be unknown; therefore, a concurrent ...