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

Table 7

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

Simulation results	Classical PID	Normal fuzzy PID	ELM fuzzy PID
Response time of depth in test II (calm-rippled)	3.45 s	4.73 s	2.87 s
Overshoot of depth in test II (calm-rippled)	1.82 m	0.47 m	0.77 m
Response time of depth in test II (smooth-wavelet)	3.92 s	5.29 s	3.08 s
Overshoot of depth in test II (smooth-wavelet)	2.57 m	0.48 m	0.88 m
Response time of depth in test II (slight)	2.34 s	5.36 s	3.01 s
Overshoot of depth in test II (slight)	3.18 m	0.47 m	0.97 m