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

Table 7

Regulation time changes with the quality of the underwater vehicle.

	m	15	18.75	22.5
	F-PID1	1.92	2.04	2.26
	F-PID2	1.59	1.81	1.96
	F-PID3	0	0	0.88
	F-PID4	1.06	1.27	1.42