Fuzzy Sliding Mode Control Method for AUV Buoyancy Regulation System

Table 1

Rules of the fuzzy sliding mode controller.

Water quantity deviation e	Boundary layer thickness ωi	Slope of slide line λi
PB	0.2	0.02
PM	0.3	0.04
PS	0.35	0.05
ZE	0.5	0.08
NS	—	—
NM	—	—
NB	—	—