Skip to main content

Table 5 The chattering simulation experimental data

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

  MSECV (V) MSEDCV (V) MSETE (m, m, m, rad, rad, rad)
The proposed chattering-reduction method [15.708, 16.424, 10.119, 11.139, 5.705, 2.682, 4.953, 2.184] [1.047, 1.067, 1.194, 0.976, 0.998, 0.865, 0.871, 0.852] [0.0489, 0.0404, 0.0436, 0.0178, 0.0175, 0.0403]
Ref. [19] [16.177, 16.049, 11.725, 11.845, 7.702, 6.171, 7.047, 5.248] [2.782, 3.256, 3.847, 4.735, 5.248, 5.729, 3.001, 5.771] [0.0503, 0.0431, 0.0490, 0.0174, 0.0179, 0.0436]
Reduced by [2.89%, − 2.34%, 13.69%, 5.95%, 25.92%, 56.54%, 29.71%, 58.38%] [62.37%, 67.24%, 68.96%, 79.39%, 80.98%, 84.90%, 71.00%, 85.24%] [2.59%, 6.13%, 10.99%, 2.31%, 2.05%, 7.38%]