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

Chinese Journal of Mechanical Engineering

Table 6 Experimental data in different ocean current environments

	AVTE (m)	MSETE (m)	OTE (m)	ATTM (s)
0.3 m/s current
The proposed method	0.0484	0.097	0.058	7.6
Ref. [8]	0.0680	0.119	0.207	10.9
Reduced by	28.82%	18.49%	71.98%	30.28%
0.5 m/s current
The proposed method	0.0465	0.103	0.061	9.2
Ref. [8]	0.0616	0.115	0.194	11.7
Reduced by	24.51%	10.43%	68.56%	21.37%