The invention provides an autonomous
underwater vehicle (AUV) trajectory tracking control method based on deep
reinforcement learning, belonging to the field of deep
reinforcement learning and
intelligent control. The autonomous
underwater vehicle trajectory tracking control method based on deep
reinforcement learning includes the steps: defining an AUV trajectory tracking control problem; establishing a Markov decision-making process model of the AUV trajectory tracking problem; constructing a
hybrid policy-evaluation network which consists of multiple policy networks and evaluation networks;and finally, solving the target policy of AUV trajectory tracking control by the constructed
hybrid policy-evaluation network, for the multiple evaluation networks, evaluating the performance of eachevaluation network by defining an expected Bellman absolute error and updating only one evaluation network with the lowest performance at each
time step, and for the multiple policy networks, randomly selecting one policy network at each
time step and using a deterministic policy gradient to update, so that the finally learned policy is the mean value of all the policy networks. The autonomous
underwater vehicle trajectory tracking control method based on deep reinforcement learning is not easy to be influenced by the bad AUV historical tracking trajectory, and has high precision.