Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle

Algorithm 1

CD for training GB-RBM in the waypoint behavior dataset.

	Input: Dataset x (n), n = 1,…, N;
Output: W, c, b
(1)	Set learning rate：, epoch:;
(2)	Initial：W ⟵ 0, c ⟵ 0, b ⟵ 0;
(3)	Calculate mean value and variance of vectors in dataset;
(4)	for t = 1 …T do
(5)	for n = 1…N do
(6)	choose an input vector ，calculate by using Equation (4)，and randomly choose a hidden vector according the distribution;
(7)	calculate positive gradient
(8)	according to , calculate by using Equation (5), obtain
(9)	according to , calculate by using Equation (4), obtain ;
(10)	calculate reverse gradient
(11)	W ← W +
(12)	c ← c +
(13)	b ← b +
(14)	end
(15)	end