Fuzzy Iterative Sliding Mode Control Applied for Path Following of an Autonomous Underwater Vehicle with Large Inertia

Table 2

Fuzzy logic rules for .

NB	NM	NS	Z	PS	PM	PB
	NB	NB	NB	NB	NB	NB	NB	NB
	NM	NM	NM	NM	NM	NM	NM	NM
	NS	PS	PS	PS	PB	PS	PS	PS
	Z	PS	PM	PS	Z	PS	PM	PS
	PS	PS	PM	PS	PB	PS	PM	PS
	PM	NM	NM	NM	NM	NM	NM	NM
	PB	NB	NB	NB	NB	NB	NB	NB