Underwater vehicles are the vehicle that can be moved and controlled in water by remotely. Autonomous Underw ater Vehicle (AUV) is one type of underwater robot that is being developed lately. Unlike Remotely Operated Vehicle (ROV) which can be controlled manually using the remote. AUV can move automatically without being controlled directly by the user as long as the conditions of the robot program are met. With the movement and disturbance that is difficult to predict can make the stability of

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... the robot one is very vulnerable, so it takes a condition that can stabilize the movement both at any depth. In practice, the on / off control system is still not able to balance the AUV properly if the robot is disturbed by water movement. Therefore, the purpose of this paper, we want to design a system using fuzzy logic with Takagi Sugeno method to stabilize its movement in the roll position and adjust the height of the robot from the bottom of the water. This study uses the IMU MPU6050 sensor hardware and sonar sensor as input, Arduino as a microcontroller and 2 brushed DC motors as actuators.