Research on the Control Performance of Depth-Fixed Motion of Underwater Vehicle Based on Fuzzy-PID

Table 1

Fuzzy rules table .

		EC
		NB	NS	ZO	PS	PB
E	NB	PB	PB	PS	PS	NS
	NS	PB	PS	PS	NS	NB
	ZO	ZO	ZO	ZO	ZO	ZO
	PS	NB	NS	PS	PS	PB
	PB	NS	PS	PB	PB	PB