Research Article
Second Order Sliding Mode Control Scheme for an Autonomous Underwater Vehicle with Dynamic Region Concept
Table 1
Total energy consumption.
| Control | Force (N) | Moment (Nm) |
| STSMC line trajectory | 711.77 | 96.23 | STSMC region trajectory | 709.30 | 7.47 | Adaptive region trajectory | 734.84 | 113.53 |
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