Performance Comparison of Control Design for Unmanned Underwater Vehicle

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. Received 21 August 2017, revised 1 February 2018, accepted 5 February 2018 Corresponding author Tae-Yong Kuc: +82-31-290-7137, tykuc@skku.edu ORCID: https://orcid.org/0000-0002-5816-0088 It is noted that this paper is revised edition based on proceedings of KMRTS 2017 in Pangyo. c 2018, The Korean Society of Ocean Engineers This is an open access article distributed under the terms of the creative commons attribution non-commercial license (http://creativecommons.org/licenses/by-nc/3.0) which permits unrestricted non-commercial use, distribution, and reproduction in any medium, provided the original work is properly cited.