A phase-Iocked-loop(PLL) controller is designed in this paper for fast velocity tracking of unmanned underwater vehicle(UlN). 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 UlN motion be controlled by focusing on the motor speed control after solving inverse kinematics and dynamics of UlN. Simulation results are g…
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