@inproceedings{f0d965ccfe4e4cc59a654477b4acec7b,
title = "PLL controller for precise velocity tracking of UUV: A new AUV model and its control",
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 = "Dynamics of UUV, Kinematics, Phase-locked-loop control, Unmanned underwater vehicle(UUV), Velocity tracking",
author = "Lee, \{Jun Hee\} and Kim, \{Hyun Su\} and Park, \{Jong Gu\} and Kuc, \{Tae Yong\} and Ko, \{Nak Yong\} and Moon, \{Yong Seon\}",
note = "Publisher Copyright: {\textcopyright} 2015 Institute of Control, Robotics and Systems - ICROS.; 15th International Conference on Control, Automation and Systems, ICCAS 2015 ; Conference date: 13-10-2015 Through 16-10-2015",
year = "2015",
month = dec,
day = "23",
doi = "10.1109/ICCAS.2015.7364964",
language = "English",
series = "ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
pages = "477--481",
booktitle = "ICCAS 2015 - 2015 15th International Conference on Control, Automation and Systems, Proceedings",
}