Adaptive Backstepping Terminal Sliding Mode Control Method Based on Recurrent Neural Networks for Autonomous Underwater Vehicle

Chinese Journal of Mechanical Engineering

Table 2 Simulation data in different ocean current environment

	AVTE (m)	MSETE (m)	OTE (m)	ATTM (s)
0.3 m/s current
The proposed method	0.0144	0.0659	0.0253	4.4
Ref. [8]	0.0203	0.0709	0.0738	8.6
Reduced by	29.06%	7.05%	65.72%	48.84 %
0.5 m/s current
The proposed method	0.0158	0.0678	0.0218	5.6
Ref. [8]	0.0216	0.0698	0.035	9.8
Reduced by	26.85%	2.87%	37.71%	42.86%