Study on Application of T-S Fuzzy Observer in Speed Switching Control of AUVs Driven by States

Table 2

Comparison of overlength (m).

Overshoot term	Speed kept by PID controller	Thrust kept	Speed switching control driven by AUV states
Diving overlength	12.33	10.73	0
Surging overlength	1.50	1.50	0.72
The maximum overlength along 𝑥- axis	34.96	20.31	10.28
The maximum overlength along 𝑦- axis	20.02	12.86	7.71