Jong-gu Park

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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(More)
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(More)
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,(More)
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