TUNING PROCESS OF SINGLE INPUT FUZZY LOGIC CONTROLLER BASED ON LINEAR CONTROL SURFACE APPROXIMATION METHOD FOR DEPTH CONTROL OF UNDERWATER REMOTELY OPERATED VEHICLE.
40
20
0
-20
-40
-60
-80
-40 -30 -20
0
20
40
-20
-10 0 10 20
30 40 -40
Input error
Input change of error
(b)
80
(a)
50
40
30
20
10
0
-10
-20
-30
-40
-50
-100
60
40
20
Output
Output
Output
80
60
0
-20
-40
100
50
0
-50
0
Input error
50
-50
100 -100
Input change of error
-60
-80
-100
100
-50
0
Input error
0
50
50
-50
100 -100
Input change of error
u& o
20
0
-20
-40
-60
-80
-40 -30 -20
0
20
40
-20
-10 0 10 20
30 40 -40
Input error
Input change of error
(b)
80
(a)
50
40
30
20
10
0
-10
-20
-30
-40
-50
-100
60
40
20
Output
Output
Output
80
60
0
-20
-40
100
50
0
-50
0
Input error
50
-50
100 -100
Input change of error
-60
-80
-100
100
-50
0
Input error
0
50
50
-50
100 -100
Input change of error
u& o