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