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

Table 5

Comparison of the vertical motion control results of classical PID, normal fuzzy PID, and ELM PID controller under the disturbance of three waves in test I.

Simulation results	Classical PID	Fuzzy PID	ELM fuzzy PID
Amplitude of depth (calm-rippled)	0.3 m	0.1 m	0.01 m
Average error of depth (calm-rippled)	0.132 m	0.0 265m	0.0 077m
Amplitude of pitch angle (calm-rippled)	1°	0.5°	0.4°
Average error of pitch angle (calm-rippled)	0.289 6°	0.186 2°	0.145 7°
Amplitude of depth (smooth-wavelet)	1.6 m	0.3 m	0.05 m
Average error of depth (smooth-wavelet)	0.512 m	0.0 737 m	0.0 188 m
Amplitude of pitch angle (smooth-wavelet)	4.5°	2.5°	2°
Average error of pitch angle (smooth-wavelet)	1.408 1°	0.874 8°	0.719 1°
Amplitude of depth (slight)	3 m	0.6 m	0.1 m
Average error of depth (slight)	1.0 154 m	0.1 418 m	0.0 367 m
Amplitude of pitch angle (slight)	9°	5.2°	4.2°
Average error of pitch angle (slight)	2.822 3°	1.728 2°	1.437 8°