Table 3 Performance error values (PEVs) of HOURV controller and its LOURV models
From: A novel approximation of underwater robotic vehicle controller exploiting multi-point matching
HOURV System (30) vs LOURV models | Performance Error Values (PEVs) | |||||
|---|---|---|---|---|---|---|
IAE | ISE | ITAE | ITSE | IT\(^2\)AE | IT\(^2\)SE | |
Proposed Model (43) | 0.180903 | 0.034234 | 0.152121 | 0.014230 | 0.403700 | 0.008130 |
Model \({W}^*_{2(Diff)}(s)\) (44) | 1.624736 | 0.274808 | 8.454500 | 1.437018 | 57.429889 | 9.897093 |
Model \({W}^*_{2(Diff-RA)}(s)\) (45) | 4.598561 | 2.262194 | 25.645818 | 13.256049 | 174.959655 | 91.852348 |
Model \({W}^*_{2(Diff-DT)}(s)\) (46) | 4.345791 | 2.057186 | 24.872123 | 12.544000 | 171.583581 | 88.526922 |
Model \({W}^*_{2(FD)}(s)\) (47) | 0.380950 | 0.056639 | 0.628002 | 0.040192 | 1.939324 | 0.068294 |
Model \({W}^*_{2(FD-RA)}(s)\) (48) | 4.095645 | 1.895552 | 23.053487 | 11.132869 | 163.306272 | 81.224230 |
Model \({W}^*_{2(FD-DT)}(s)\) (49) | 3.883530 | 1.724812 | 22.484244 | 10.655955 | 160.447493 | 78.625718 |
Model \({W}^*_{2(FD-Diff)}(s)\) (50) | 4.358950 | 2.082206 | 24.960694 | 12.658655 | 172.057285 | 89.006414 |
