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

Table 3

International wave scale. Source: https://wenku.baidu.com/view/98aac42e25284b73f242336c1eb91a37f1113286.html.

Wave scale name	Wave height range	Description of sea surface
Calm-glassy	0 m	The sea surface is as smooth as a mirror, or there are only swells
Calm-rippled	0–0.1 m	Ripple and swell exist at the same time
Smooth-wavelet	0.1–0.5 m	The waves are very small, the crest begins to break, and the spray is not white but glassy
Slight	0.5–1.25 m	The crests of the waves are broken, and some of them form white spray
Moderate	1.25–2.50 m	Waves have distinct shapes and form white waves everywhere
Rough	2.50–4.0 m	There were big wave crests, the spray occupied a large area on the crest, and the wind began to cut off the spray on the crest
Very rough	4–6 m	The wave crests sometimes appear the long wave shape of storm wave
High	6–9 m	The crests of the waves were covered with spray
Very high	9–14 m	Dense spray covered the slope of the waves, and the sea turned white except in certain places within the trough
Phenomenal	>14 m	The whole sea surface is covered with dense spray layer, the air is full of water droplets, and the visibility is significantly reduced