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Table 6 Experimental data in different ocean current environments

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 0.0484 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%