Title :
PLL controller for precise velocity tracking of UUV: A new AUV model and its control
Author :
Jun-Hee Lee;Hyun-Su Kim;Jong-gu Park;Tae-Yong Kuc;Nak-Yong Ko;Yong-Seon Moon
Author_Institution :
School of Electrical and Computer Engineering, Sung Kyun Kwan University, 300 ChunChun-dong, Changan-gu, Suwon, 440-746, Republic of Korea
Abstract :
A phase-locked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UUV). Digital encoder output encodes measured velocity of actuator and its phase is compared with reference frequency of desired velocity command in the feedback loop to achieve fast convergence of tracking error. This makes possible dynamics model of UUV motion be controlled by focusing on the motor speed control after solving inverse kinematics and dynamics of UUV. Simulation results are given to demonstrate the feasibility and effectiveness of the proposed controller for UUV motion control.
Keywords :
"Yttrium","Adaptation models","Robots","Oceans"
Conference_Titel :
Control, Automation and Systems (ICCAS), 2015 15th International Conference on
DOI :
10.1109/ICCAS.2015.7364964