Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle

<div>The pretraining process by using GB-RBM: (a) training GB-RBM for the 1st layer of classification model; (b) training GB-RBM for the 1st layer of regression model.</div>

Mathematical Problems in Engineering

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Figure 12

Figure 12: Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle 