Tracking Controller Design for Diving Behavior of an Unmanned Underwater Vehicle

Table 1

Rule base table of fuzzy control.

𝑢fuzzy		𝑒(𝑡)
		NB	NM	NS	ZE	PS	PM	PB
	NB	PB	PB	PB	PB	PM	PS	ZE
	NM	PB	PB	PB	PM	PS	ZE	NS
	NS	PB	PB	PM	PS	ZE	NS	NM
𝑒(̇𝑡)	ZE	PB	PM	PS	ZE	NS	NM	NB
	PS	PM	PS	ZE	NS	NM	NB	NB
	PM	PS	ZE	NS	NM	NB	NB	NB
	PB	ZE	NS	NM	NB	NB	NB	NB