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" " " ;;;;;;;;;;;;;;;;;; 2024t^SN^yf[b/gVYc TlQ:yQ[lQJTh N0yv Ty mwmSc_NN\ON:ghVNsQ.b/gN^(u N0P USMO 10nNS'Yf[;20 NwmN'Yf[;30SNƉwybN gPlQS;40mg]'YIy:g5u gPlQS N0P N 10[X T;204T;30[d_;400u/Tf;50hg _IN;608nyS;70Ğؚ;80wepg;90sO;1004To V0;NwƋNCg/edPgevU_P10*N ^SwƋNCg{|+R TyV:S +RcCgScCglQJTeSfNCg)RN1SfN)RCgNymwmSƉǑ7hhVvRy_gbL:gg-NVZL201820780908.22024-02-06[X T [d_ *z` _yt^wSguxShe (t^ge) \O +TqQ T ,{N \O +TqQ T ehQ\O1eMulti Pseudo Q-Learning-Based Deterministic Policy Gradient for Tracking Control of Autonomous Underwater VehiclesIEEE Transactions on Neural Networks and Learning Systems2019 Vol. 30(12): 3534-3546.2018-12-28[X Twepgwepg [X T 4To HO2eDepth Control of Model-Free AUVs via Reinforcement LearningIEEE Transactions on Systems, Man, and Cybernetics: Systems2019, Vol.49(12): 2499-2510.2018-01-18[X Tfkfk [X T 8nyS 4To3eAttention-Based Meta-Reinforcement Learning for Tracking Control of AUV With Time-Varying DynamicsIEEE Transactions on Neural Networks and Learning Systems2022, Vol.33(11): 6388-6401.2021-05-24Ğؚ_lO_lO [X T Ğؚ4ePlume Tracing via Model-Free Reinforcement Learning MethodIEEE Transactions on Neural Networks and Learning Systems2019 Vol.30(8): 2515-2527.2019-01-01[X T*Q*Q [X T HO N0V[l_lĉBlvLNybQeNvU_P10*N ^S[ybeN TyNT Ty[ybUSMO[ybeybQ gHeg3uUSMO mQ0c Ta yvx6RQbVSmwm6000s|mwmSc_NN\ON:ghVN wQ gte:gzfTYRvyrp0;NRebgY N 1.cQN:ghVNv$NB\Ry_;NSO~g ;Nx6RNM g/ed^^vX_be0NR:ghKb04l N&^ _Rvcňn0hQlkIQ1ؚRs4l(WV OahVI{0 2.sHQ^zNpm_8^nzfd"}v:_Sf[`N!jW cQ:ghVf[`N|RؚHeBl㉗{l z4xNwm^pm_8^cKmOo` NTd"}HesNOv0 3.sHQ^zN[eߍ*c6Rv:_Sf[`N!jW cQm^f[`N|RؚHeBl㉹el z4xNeSRRsX Nwm^:ghVNЏR^!j0 [eN:ghVN3*N*!kvwmՋ^(u Nwm^zfd"}0|nxbST0W(Ǒ7hI{HQۏ'`0xvzbgShؚ4ls^SCIh"}g Re80YO{ cCgSfN)R50YOy0-NV] zb NMObXSDmN[~ċNa:NyvbgRe'`:_ ;`SO0RVEHQ4ls^0yvbgteSOc^^(u ]Nu~NmHev3.74NCQ0 c Tyv:NSN^yf[b/gVYyf[b/gۏekVY{|+Rb/g_S{| NI{VY(+TyrI{VY) 0     PAGE  ,{ PAGE 1u/qQ NUMPAGES 7u ,{ PAGE \* Arabic \* MERGEFORMAT 7u/qQ NUMPAGES \* Arabic \* MERGEFORMAT 7u  &02>@fhvϝ|o_QD4hQhCJOJQJaJo(hCJOJQJaJuhq5CJPJ\aJo(hQhqCJOJQJaJo(h_QPCJOJQJaJuhkPhq5CJPJ\aJ!hkPhq5CJPJ\aJo( hkPhq5B*CJ$aJ$ph #hkPhq5B*CJ$aJ$o(ph hG,5B*CJ$aJ$o(ph hq5B*CJ$aJ$o(ph #hhxhq5B*CJ$aJ$o(ph h_QP5B*CJ$aJ$ph uL N P R T ^ b z | ~ ǺshZP=3=h"B*o(ph%h"OJQJaJmHnHsHtHuh"5B*phh29h"5B*o(phh"5B*o(ph$h"5B*CJPJ\aJo(phh"B*CJOJPJaJph"h"B*CJOJPJaJo(ph"hI'B*CJOJPJaJo(phh]CJOJPJaJo(hZ{_CJOJPJaJo(h4PhqCJOJQJaJo(hCJOJQJaJuhk*5CJPJ\aJo(   $ & : < n p x z | ~     2 4 8 : Z \ p r   H J f h j l n x z   " $ . 0 h"B*o(ph%h"OJQJaJmHnHsHtHuh"B*phV0 ` b f h  *,@BPRZ\^`bln 46:<\^rt  (*,Fh"5B*phh"B*o(phh"B*ph%h"OJQJaJmHnHsHtHuRF^fpt&2>LNPRVX<> .0246:<*,dfz|vxh"B*phh"B*o(ph%h"OJQJaJmHnHsHtHuh"5B*phh"5B*o(phNx$&:<@BFHZ\^`bfhPR0:FHVX\^ʸʁhI'B*CJOJPJaJphh"5B*o(phh"5B*ph"h"B*CJOJPJaJo(ph"hI'B*CJOJPJaJo(phh"B*CJOJPJaJphh"B*o(phh"B*ph%h"OJQJaJmHnHsHtHu+^`jlrtjl $&˸||||rlrlhcrlr h]o(h] h]0Jjh]0JUhpgjhpgUhPih!:*CJOJPJaJo(h"OJQJaJmHsHtHhPih"CJOJPJaJo(%h"OJQJaJmHnHsHtHuh"B*CJOJPJaJph"h"B*CJOJPJaJo(ph"hI'B*CJOJPJaJo(ph&&(*02FHJLPRTVҹҹhPih!:*CJOJPJaJo( h"o(hI'CJOJQJaJuh"CJOJQJaJjh"CJUOJQJaJh%Ph"o( h]o(jh]0JU h]0J2@hvN R | ~ $G$H$$Ifa$gd".=gd"$a$gd" $@&a$gdZ{_ $@&a$gd4P $XD2a$gdk* $@&a$gdQ $XD2a$gdq $dh@&a$gdq kd$$IfTl    ִP+ !*4N 0    "5    44 layt".=T  & < p z $Ifgd".= $$Ifa$gd".=z | kd$$IfTl    ִP+ !*4N 0    "5    44 layt".=T| $Ifgd".= $$Ifa$gd".= kd:$$IfTl    ִP+ !*4N 0    "5    44 layt".=T   4 : \ r $Ifgd".= $$Ifa$gd".= kdW$$IfTl    ִP+ !*4N 0    "5    44 layt".=T  J h $Ifgd".= $$Ifa$gd".=h j kdt$$IfTl    ִP+ !*4N 0    "5    44 layt".=Tj n z  $Ifgd".= $$Ifa$gd".= kd$$IfTl    ִP+ !*4N 0    "5    44 layt".=T $ 0 b h $Ifgd".= $$Ifa$gd".= kd$$IfTl    ִP+ !*4N 0    "5    44 layt".=T  ,BR\ $Ifgd".= $$Ifa$gd".=\^kd$$IfTl    ִP+ !*4N 0    "5    44 layt".=T^bn $Ifgd".= $$Ifa$gd".=kd$$IfTl    ִP+ !*4N 0    "5    44 layt".=T 6<^t $Ifgd".= $$Ifa$gd".=kd $$IfTl    ִP+ !*4N 0    "5    44 layt".=T  * $Ifgd".= $$Ifa$gd".=*,kd" $$IfTl    ִP+ !*4N 0    "5    44 layt".=T,2@FPZhv G$H$$Ifgd".=$G$H$$Ifa$gd".=kd? $$IfTl    ִP+ !*4N 0    "5    44 layt".=T $Ifgd".= $$Ifa$gd".=kd\ $$IfTl    ִP+ !*4N 0    "5    44 layt".=T&,2>LNRX> 02Ff $$Ifa$gd".=Ff$G$H$$Ifa$gd".=26<,f|x&<BH\^bhRFfFf $$Ifa$gd".=&0<F$a$gd"Ff $$Ifa$gd".= FHJ! $$Ifa$gd".=kdx$$IfTl    R֞^ Yl $`jr0    $44 layt".=TJLNPRTV $$Ifa$gd".=VXZ!$a$gd"kd$$IfTl    ֞^ Yl $`jr0    $44 layt".=TZ^ltlPR$a$gd":_ &`#$gd;gdi' $@&a$gd" $@&a$gd"$a$gdI'R $@&a$gd"$dWD^XD^YD`a$gd".==018P:pNw. 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