Control of Three-Wheeled Welding Mobile Robot

  • Nguyen, Tan Tien (Dept. of Mechanical Engineering, Hochiminh City University of Technology) ;
  • Chung, Tan Lam (Dept. of Mechanical Engineering, College of Eng., Puhyong National University) ;
  • Oh, Myung-Suck (Dept. of Mechanical Engineering, College of Eng., Puhyong National University) ;
  • Kim, Sang-Bong (Dept. of Mechanical Engineering, College of Eng., Puhyong National University)
  • 발행 : 2002.07.10

초록

This raper proposes a simple robust nonlinear controller design method based on Lyapunov stability for tracking reference welding trajectory and velocity of a three wheel welding mobile robot (WMR). Control law is obtained from Lyapunov control function to ensure asymptotical stability of the system. The effectiveness of the proposed controller is shown through simulation results.

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