제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
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Adaptive Control for Tracking Trajectory of a Two-Wheeled Welding Mobile Robot with Unknown Parameters

  • Bui, Trong Hieu (Department of Mechanical Engineering, College of Eng., Pukyong National University) ;
  • Chung, Tan-Lam (Department of Mechanical Engineering, College of Eng., Pukyong National University) ;
  • Suh, Jin-Ho (Department of Mechanical Engineering, College of Eng., Pukyong National University) ;
  • Kim, Sang-Bong (Department of Mechanical Engineering, College of Eng., Pukyong National University)
  • Published : 2003.10.22
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Abstract

This paper presents a method to design an adaptive controller for the kinematic model of a two-wheeled welding mobile robot (WMR) with unknown parameters. We propose a nonlinear controller based on the Lyapunov function to enhance the tracking properties of the WMR. The WMR can track any smooth curved welding path at a constant velocity of the welding point. The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for fast tracking. To design the tracking performance, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as possible. The effectiveness of the proposed controller is shown through simulation results.

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