Sliding mode control of two-wheeled welding mobile robot for tracking smooth curved welding path

Springer Science and Business Media LLC - Tập 18 - Trang 1094-1106 - 2004
Tan Lam Chung1, Trong Hieu Bui1, Tan Tien Nguyen2, Sang Bong Kim1
1Department of Mechanical Eng., College of Eng., Pukyong National University, Pusan, Korea
2Department of Mechanical Eng., Hochiminh City University of Technology, Hochiminh City, Vietnam

Tóm tắt

In this paper, a nonlinear controller based on sliding mode control is applied to a two-wheeled Welding Mobile Robot (WMR) to track a smooth curved welding path at a constant velocity of the welding point. The mobile robot is considered in terms of dynamics model in Cartesian coordinates under the presence of external disturbance, and its parameters are exactly known. It is assumed that the disturbance satisfies the matching condition with a known boundary. To obtain the controller, the tracking errors are defined, and the two sliding surfaces are chosen to guarantee that the errors converge to zero asymptotically. Two cases are to be considered : fixed torch and controllable torch. In addition, a simple way of measuring the errors is introduced using two potentiometers. The simulation and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.

Tài liệu tham khảo

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