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

Table 9

Regulation time changes with the hydrodynamic coefficient.

		0.187	0.170	0.153
	F-PID1	1.92	1.92	1.92
	F-PID2	1.59	1.59	1.59
	F-PID3	0	0	0
	F-PID4	1.06	1.06	1.06