Adaptive Navigating Control Based on the Parallel Action-Network ADHDP Method for Unmanned Surface Vessel

Table 2

The comparison of a 90° navigating control response of the USV under a PID and the adaptive ADHDP controller.

Comparing items	PID	Adaptive ADHDP
Maximum response (°)	111.1079	90
Overshoot (%)	23.29	0
Delay time (s)	2.1400	7.5535
Rise time (s)	5.4600	23.9995
Peak time (s)	10.8650	23.9995
Adjustment time (s)	22.5850	16.3405