Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

Figure 2

Plots of membership functions for (a) 𝑒(𝑡), (b) 𝑒(̇𝑡), and (c) 𝑢_fuzzy.

(a) 𝑒(𝑡)

(b) 𝑒(̇𝑡)

(c) 𝑢_fuzzy