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Table 2 Simulation data in different ocean current environment

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

  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%