crossrefPeerJ Computer Science2026-07-03
Lya-DRL-SMC: a Lyapunov-stability-constrained deep reinforcement learning enhanced sliding mode control method for remotely operated vehicles
Shenao Yan, Zini Wang, Hongwen Yu
Remotely operated vehicles (ROVs) operating in complex marine environments are subject to multimodal disturbances, such as wave forces, ocean currents, and model uncertainties, which pose significant challenges to the robustness and stability of the control system. This article p…