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The six-degree-of-freedom model of AUV is simplified and longitudinal motion equations are established on the basis of previous research. The influences of first-order wave force and torque are taken into consideration. The REMUS is selected to simulate the control effects of conventional sliding mode controller and fuzzy sliding mode controller. Simulation results show that the fuzzy sliding mode controller can meet the requirements and has higher precision and stronger antijamming performances compared with conventional sliding mode 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