An Embedded Linear Model Three-Dimensional Fuzzy PID Control System for a Bionic AUV under Wave Disturbance

Figure 11

Variation of AUV depth under the disturbance of the CALM-RIPPLED waves (a), SMOOTH-WAVELET waves (c), and SLIGHT waves (e), and variation of AUV pitch angle under the disturbance of the CALM-RIPPLED waves (b), SMOOTH-WAVELET waves (d), and SLIGHT waves (f).

(a)

(b)

(c)

(d)

(e)

(f)