Objectives   In order to solve the problem of space turning motion control for the X-rudder submarine, a fuzzy control system for turning of the X-rudder submarine is designed by using the fuzzy control method.

  Methods   A weight fuzzy system for the X-rudder was designed to solve the problem of the control power distribution of the X-rudder for pitch and roll. In addition, the horizontal depth-keeping and space depth-changing turning control were simulated and analyzed.

  Results   The results show that the X-rudder submarine space turning fuzzy control system designed in this paper has excellent control effect which could realize no pitch and no roll turning.

  Conclusions   The effectiveness of space turning control of X-rudder is verified, which has certain reference value for submarine control.