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

Table 6

Comparison of the horizontal 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 cross-track distance (calm-rippled)	0.5 m	0.1 m	0.04 m
Average error of cross-track distance (calm-rippled)	0.1 610 m	0.0 173 m	0.0 061 m
Amplitude of yaw angle (calm-rippled)	1.1°	0.38°	0.25°
Average error of yaw angle (calm-rippled)	0.345 3°	0.133 9°	0.087 7°
Amplitude of cross-track distance (smooth-wavelet)	1 m	0.2 m	0.1 m
Average error of cross-track distance (smooth-wavelet)	0.3 215 m	0.0 355 m	0.0 129 m
Amplitude of yaw angle (smooth-wavelet)	2.3°	0.7°	0.5°
Average error of yaw angle (smooth-wavelet)	0.690 6°	0.270 1°	0.181 0°
Amplitude of cross-track distance (slight)	2 m	0.4 m	0.2 m
Average error of cross-track distance (slight)	0.6 426 m	0.0 736 m	0.0 301 m
Amplitude of yaw angle (slight)	4.5°	1.5°	1.2°
Average error of yaw angle (slight)	1.381 7°	0.547 6°	0.375 0°