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

Table 4

Controller tuning parameters and basic information used in the simulation.

Simulation information	Classical PID	Normal fuzzy PID	ELM fuzzy PID
Duration of simulation/s	40 s (test I)/50 s (test II, III)	40 s (test I)/50 s (test II, III)	40 s (test I)/50 s (test II, III)
Step size/s	0.01 s	0.01 s	0.01 s
Iterative method	Runge-Kutta	Runge-Kutta	Runge-Kutta
	0.02	[0, 0.05]	[0, 0.05]
	0.005	[0, 0.01]	[0, 0.01]
	0.02	[0, 0.05]	[0, 0.05]
	—	—	[−0.1, 0.1]
	1	[0, 2]	[0, 2]
	0	[0, 0.01]	[0, 0.01]
	1	[0, 2]	[0, 2]
	—	—	[−0.01, 0.01]
	0.005	[0, 0.01]	[0, 0.01]
	0	[0, 0.01]	[0, 0.01]
	0.000 5	[0, 0.001]	[0, 0.001]
	—	—	[−0.1, 0.1]
	1	[0, 2]	[0, 2]
	0	[0, 0.01]	[0, 0.01]
	3	[0, 5]	[0, 0.01]
	—	—	[−0.01, 0.01]