Skip to main content

Table 4 Simulation data in 0.5 m/s ocean current environment

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

  AVTE (m, m, m, rad, rad, rad) MSETE (m, m, m, rad, rad, rad)
The proposed method [0.0117, 0.0076, 0.0082, 0.0031, 0.0029, 0.0071] [0.0382, 0.0368, 0.0436, 0.0168, 0.0168, 0.0397]
Ref. [8] [0.0123, 0.0121, 0.0094, 0.0063, 0.0052, 0.0098] [0.0498, 0.0469, 0.0428, 0.0179, 0.0184, 0.0449]
Reduced by [4.68%, 37.29%, 13.42%, 50.56%, 43.96%, 27.85%] [23.33%, 21.55%, − 1.84%, 6.31%, 8.65%, 11.69%]