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

Table 3

Fuzzy rules table .

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