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

Figure 15

Trajectory of AUV with the three control methods when the depth changes from 5 m to 10 m under the disturbance of CALM-RIPPLED waves (a), SMOOTH-WAVELET waves (b), and SLIGHT waves (c), and variation of attitudes and position of the AUV under the disturbance of CALM-RIPPLED waves (d), SMOOTH-WAVELET waves (e), and SLIGHT waves (f).

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(b)

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(d)

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(f)