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

Table 1

The mainly used parameters of the AUV in the equation.

Variable names	Data value	Unit	Remarks
	100		Mass
	981		Buoyancy
	28.9		Moment of inertia about x axis
	677		Moment of inertia about y axis
	677		Moment of inertia about z axis
	2.6		Length of the AUV
	0.14	1	Coefficient of drag
	0.9		Distance of the two propeller
	1.17	1	Derivative of to
	2.32	1	Derivative of to
	0.51	1	Derivative of to
	0.69	1	Derivative of to
	−0.28	1	Derivative of to
	−2.32	1	Derivative of to
	0.69	1	Derivative of to
	0.12	m	Distance between mass center and buoyancy center on axis
	0.03	m	Distance between mass center and buoyancy center on axis
	0	m	Distance between mass center and buoyancy center on axis