Tan Lam Chung, Trong Hieu Bui, Tan Tien Nguyen, Sang Bong Kim
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 distur...... hiện toàn bộ