Deep Learning-Based Trajectory Tracking Control forUnmanned Surface Vehicle

Table 6

Performance index in trajectory tracking.

Vehicle name	Alder (with DNN model)	Alpha (without DNN model)
The average of tracking error	1.75	2.16
The variance of tracking error	12.70	16.43
IAE (10^3) ()	0.685	0.825
ITAE (10^4) ()	4.691	5.499