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Table 7 Experimental data in 0.3 m/s ocean current environment

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

  AVTE (m, rad) MSETE (m, rad)
The proposed method [0.0229, 0.0162] [0.0256, 0.0209]
Ref. [8] [0.0311, 0.0256] [0.0349, 0.0308]
Reduced by [26.37%, 36.72%] [26.65%, 32.14%]