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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Hee-Jun Lee Sun-Je Yang Jong-gu Park Tae-Yong Kuc Nak-Yong Ko Yong-Seon Moon |
| Copyright Year | 2015 |
| Description | Author affiliation: Sch. of Electr. & Comput. Eng., Sung Kyun Kwan Univ., Suwon, South Korea (Hee-Jun Lee; Sun-Je Yang; Jong-gu Park; Tae-Yong Kuc) || Dept. of Electr. Eng., Sunchon Nat. Univ., Sunchon, South Korea (Yong-Seon Moon) || Dept. of Control, Instrum. & Robot Eng., Chosun Univ., Gwangju, South Korea (Nak-Yong Ko) |
| 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. |
| Starting Page | 488 |
| Ending Page | 492 |
| File Size | 1278502 |
| Page Count | 5 |
| File Format | |
| ISSN | 20937121 |
| e-ISBN | 9788993215083 |
| DOI | 10.1109/ICCAS.2015.7364967 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-10-13 |
| Publisher Place | South Korea |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Control, Robotics and Systems - ICROS |
| Subject Keyword | Dynamics of AUV Kinematics Phase-locked-loop control Velocity tracking Yttrium Robots Autonomous underwater vehicle |
| Content Type | Text |
| Resource Type | Article |
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