Active Disturbance Rejection Fuzzy Controller for Roll Stabilization of Autonomous Underwater Vehicle under Wave Disturbance

Table 1

Statistics of roll stabilizing performance.

Significant; wave height	Wave encounter; angle	Standard deviation of roll angle; without roll control	Standard deviation of roll; angle with ADRFC	Roll stabilizing; performance
(m)	(°)	(°)	(°)	(%)
	= 45°	2.7303	1.5257	68.77
	= 90°	3.1697	1.6830	71.81
	= 135°	1.8709	1.0373	69.26
	= 45°	3.3195	1.8280	69.67
	= 90°	3.7854	2.0477	70.74
	= 135°	2.2526	1.2185	70.73
	= 45°	3.8762	2.1797	68.38
	= 90°	4.6059	2.5609	69.09
	= 135°	2.7464	1.5309	68.93