Research Article
Fuzzy Sliding Mode Control Method for AUV Buoyancy Regulation System
Table 1
Rules of the fuzzy sliding mode controller.
| Water quantity deviation e | Boundary layer thickness ωi | Slope of slide line λi |
| PB | 0.2 | 0.02 | PM | 0.3 | 0.04 | PS | 0.35 | 0.05 | ZE | 0.5 | 0.08 | NS | — | — | NM | — | — | NB | — | — |
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