Journal of Ocean Engineering and Technology (한국해양공학회지)

Korean Society of Ocean Engineers (한국해양공학회)
권호 표지
DOI QR코드

DOI QR Code

Performance Comparison of Control Design for Unmanned Underwater Vehicle

무인 잠수정의 제어 성능 비교 연구

  • Joo, Sung-Hyeon (Department of Electrical and Electronic Engineering, Sungkyunkwan University) ;
  • Yang, Seon-Je (Department of Electrical and Electronic Engineering, Sungkyunkwan University) ;
  • Kuc, Tae-Yong (Department of Electrical and Electronic Engineering, Sungkyunkwan University) ;
  • Park, Jong-Koo (Department of Electrical and Electronic Engineering, Sungkyunkwan University) ;
  • Kim, Yong-Serk (Department of Electrical and Electronic Engineering, Sungkyunkwan University) ;
  • Ko, Nak-Yong (Department of Electronic Engineering, Chosun University) ;
  • Moon, Yong-Seon (Department of Electronic Engineering, Sunchon National University)
  • 주성현 (성균관대학교 전자전기컴퓨터공학과) ;
  • 양선제 (성균관대학교 전자전기컴퓨터공학과) ;
  • 국태용 (성균관대학교 전자전기컴퓨터공학과) ;
  • 박종구 (성균관대학교 전자전기컴퓨터공학과) ;
  • 김용석 (성균관대학교 전자전기컴퓨터공학과) ;
  • 고낙용 (조선대학교 전자공학과) ;
  • 문용선 (순천대학교 전자공학과)
  • Received : 2017.08.21
  • Accepted : 2018.02.05
  • Published : 2018.04.30
Download PDF
⟨ Previous Next ⟩

Abstract

In this paper, we propose an adaptive backstepping controller to control the exact position and orientation of a remotely operated underwater vehicle with parametric model uncertainty. To further improve the angular velocity control precision of each thruster, a phase locked loop (PLL) controller has been added to the backstepping controller. A comparison of two backstepping controllers with and without the PLL control loop has been performed using simulations and experiments. The test results showed that the tracking performance could be improved by using the PLL control loop in the proposed adaptive backstepping controller.

Keywords

References

  1. Antonelli, G., Caccavalee, F., Chiaverini, S., 2004. Adaptive Tracking Control of Underwater Vehicle-Manipulator Systems Based on the Virtual Decomposition Approach. IEEE Transactions on Robotics and Automotion, 20(3), 594-602. https://doi.org/10.1109/TRA.2004.825521
  2. Geiger, D.F., 1981. Phaselock Loops for DC Motor Speed Control. Hoboken, NJ, USA.
  3. Lee, H.J,, Yang. S.J,, Park. J.G., Kuc. T.Y., Ko, N.Y., Moon, Y.S., 2015. PLL Controller for Precise Velocity Tracking of UUV: A new ROV Model and Its Control. Control, Automation and Systems (ICCAS), 15th International Conference, IEEE, 488-492.
  4. Raygosa-Barahona, R., Parra-Vega. V., Olguin-Diaz. E., Munoz-Ubando. L., 2011. A Model-free Backstepping with Integral Sliding Mode Control for Underactuated ROVs. Electrical Engineering Computing Science and Automatic Control (CCE), 8th International Conference, IEEE.
  5. Soylu, S., Buckham, B.J., Podhorodeski, R.P., 2008. A Chatteringfree Sliding Mode Control for Underwater Vehicles with Faulttolerant Infinity-norm Thrust Allocation. Ocean Engineering, 35(16), 1647-1659. https://doi.org/10.1016/j.oceaneng.2008.07.013
  6. Fossen, T.I., 1994. Guidance and Control of Ocean Vehicles. Wiley, London, UK.
  7. Wise, M.G., 1985. Digital Phase-locked Loop Speed Control for a Brushless D.C. Motor. Naval Postgraduate School Monterey, CA.
  8. Wu, H.M,, Karkoub, M., 2014. Hierarchical Backstepping Control for Trajectory-tracking of Autonomous Underwater Vehicles Subject to Uncertainties. Control, Automation and Systems (ICCAS), 14th International Conference, IEEE, 1191-1196.
  9. Yuh, J., 1990. A Neural Net Controller for Underwater Robotic Vehicles. IEEE Journal of Oceanic Engineering, 15(3), 161-166. https://doi.org/10.1109/48.107144