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

Table 2

Fuzzy control rule table of ELM fuzzy PID controller.

NL

NM

Z

PM

PL

NL

NM

Z

PM

PL

NL

NM

Z

PM

PL

NL

NM

Z

PM

PL

NL

NL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

PL

PL

PM

NL

NL

NM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

PL

PM

PM

NM

NL

Z

S

M

L

M

S

M

L

L

L

M

S

M

L

M

S

PM

PM

PM

NM

NM

PM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

PL

PM

PM

NM

NL

PL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

PL

PL

PM

NL

NL

NM

NL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

PL

PM

PM

NM

NL

NM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

PM

PM

Z

NM

NM

Z

S

M

L

M

S

M

L

L

L

M

S

M

L

M

S

PM

PM

Z

NM

NM

PM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

PM

PM

Z

NM

NM

PL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

PL

PM

PM

NM

NL

Z

NL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

Z

Z

Z

Z

Z

NM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

Z

Z

Z

Z

Z

Z

S

M

L

M

S

M

L

L

L

M

S

M

L

M

S

Z

Z

Z

Z

Z

PM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

Z

Z

Z

Z

Z

PL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

Z

Z

Z

Z

Z

PM

NL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

NL

PM

PM

NM

PL

NM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

NM

PM

Z

NM

PM

Z

S

M

L

M

S

M

L

L

L

M

S

M

L

M

S

NM

PM

Z

NM

PM

PM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

NM

PM

Z

NM

PM

PL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

NL

PM

PM

NM

PL

PL

NL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

NL

PL

PM

NL

PL

NM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

NL

PM

PM

NM

PL

Z

S

M

L

M

S

M

L

L

L

M

S

M

L

M

S

NM

PM

PM

NM

PM

PM

S

S

M

S

S

S

M

M

M

S

M

M

S

M

M

NL

PM

PM

NM

PL

PL

M

L

L

L

M

Z

Z

Z

Z

Z

S

S

Z

S

S

NL

PL

PM

NL

PL