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Volume 13
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This is an early access version, the complete PDF, HTML, and XML versions will be available soon.
Article

Synchronization Control for AUVs via Optimal-Sliding-Mode Adaptive Dynamic Programming with Actuator Saturation and Performance Constraints in Dynamic Recovery

by
Puxin Chai
1,
Zhenyu Xiong
2,
Wenhua Wu
2,*,
Yushan Sun
1 and
Fukui Gao
2,*
1
State Key Laboratory of Intelligent Marine Vehicle Technology, Harbin Engineering University, Harbin 150001, China
2
Aerospace Technology Institute, China Aerodynamics Research and Development Center, Mianyang 621000, China
*
Authors to whom correspondence should be addressed.
J. Mar. Sci. Eng. 2025, 13(9), 1687; https://doi.org/10.3390/jmse13091687
Submission received: 4 August 2025 / Revised: 28 August 2025 / Accepted: 31 August 2025 / Published: 1 September 2025
(This article belongs to the Section Ocean Engineering)
Versions Notes

Abstract

This paper proposes an optimal-sliding-mode-based adaptive dynamic programming (ADP) master–slave synchronous control strategy for the actuator saturation and performance constraints that AUVs face in dynamic recovery. First, by introducing the sliding-mode function into the value function to optimize the state error and its derivative simultaneously, the convergence speed is significantly improved. Second, by designing the performance constraint function to directly map the sliding-mode function, the evolution trajectory of the sliding-mode function is constrained, ensuring the steady-state and transient characteristics. In addition, the hyperbolic tangent function (tanh) is introduced into the value function to project the control inputs into an unconstrained policy domain, thereby eliminating the phase lag inherent in conventional saturation compensation schemes. Finally, the requirement for initial stability is relaxed by constructing a single-critic network to approximate the optimal control policy. The simulation results show that the proposed method has significant advantages in terms of the position and attitude synchronization error convergence rate, steady-state accuracy, and control signal continuity compared with the conventional ADP method.
Keywords: AUV; master–slave synchronous control; adaptive dynamic programming; actuator saturation; performance constraints AUV; master–slave synchronous control; adaptive dynamic programming; actuator saturation; performance constraints

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MDPI and ACS Style

Chai, P.; Xiong, Z.; Wu, W.; Sun, Y.; Gao, F. Synchronization Control for AUVs via Optimal-Sliding-Mode Adaptive Dynamic Programming with Actuator Saturation and Performance Constraints in Dynamic Recovery. J. Mar. Sci. Eng. 2025, 13, 1687. https://doi.org/10.3390/jmse13091687

AMA Style

Chai P, Xiong Z, Wu W, Sun Y, Gao F. Synchronization Control for AUVs via Optimal-Sliding-Mode Adaptive Dynamic Programming with Actuator Saturation and Performance Constraints in Dynamic Recovery. Journal of Marine Science and Engineering. 2025; 13(9):1687. https://doi.org/10.3390/jmse13091687

Chicago/Turabian Style

Chai, Puxin, Zhenyu Xiong, Wenhua Wu, Yushan Sun, and Fukui Gao. 2025. "Synchronization Control for AUVs via Optimal-Sliding-Mode Adaptive Dynamic Programming with Actuator Saturation and Performance Constraints in Dynamic Recovery" Journal of Marine Science and Engineering 13, no. 9: 1687. https://doi.org/10.3390/jmse13091687

APA Style

Chai, P., Xiong, Z., Wu, W., Sun, Y., & Gao, F. (2025). Synchronization Control for AUVs via Optimal-Sliding-Mode Adaptive Dynamic Programming with Actuator Saturation and Performance Constraints in Dynamic Recovery. Journal of Marine Science and Engineering, 13(9), 1687. https://doi.org/10.3390/jmse13091687

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