@inproceedings{61afde9ea19e4a85a1fdcfcd7195765a,
title = "An adaptive dynamics control of underwater vehicle based on velocity servo loop",
abstract = "This paper presents dynamics control of underwater vehicle based on motor velocity servo. For control of robot's location, pose, velocity in complicated underwater environment, this study estimates hydrodynamic coefficients by using backstepping technique. Estimated hydrodynamic coefficients are to be used for controlling of robot's exact location, pose, and velocity, within the framework of adaptive dynamics control. Also this study suggests a unified control method which combines motor control loop for velocity servo and torque control for dynamics control. Simulation results demonstrate the feasibility and effectiveness of the proposed control method.",
keywords = "Backstepping control, Path following, Phase-locked-loop control, Underwater vehicle, Velocity tracking",
author = "Yang, \{Seon Je\} and Lee, \{Hee Jun\} and Kuc, \{Tae Yong\} and Park, \{Jong Gu\} and Ko, \{Nak Yong\} and Moon, \{Yong Seon\}",
note = "Publisher Copyright: {\textcopyright} 2016 Institute of Control, Robotics and Systems - ICROS.; 16th International Conference on Control, Automation and Systems, ICCAS 2016 ; Conference date: 16-10-2016 Through 19-10-2016",
year = "2016",
month = jan,
day = "24",
doi = "10.1109/ICCAS.2016.7832340",
language = "English",
series = "International Conference on Control, Automation and Systems",
publisher = "IEEE Computer Society",
pages = "341--343",
booktitle = "ICCAS 2016 - 2016 16th International Conference on Control, Automation and Systems, Proceedings",
}