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Table 8 Experimental 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, rad) MSETE (m, rad)
The proposed method [0.0229, 0.0218] [0.0280, 0.0251]
Ref. [8] [0.0386, 0.0366] [0.0441, 0.0394]
Reduced by [40.61%, 40.53%] [36.44%, 36.24%]