제어로봇시스템학회:학술대회논문집

Institute of Control, Robotics and Systems (제어로봇시스템학회)
권호 표지

A Nonlinear Controller of a Two-Wheeled Welding Mobile Robot Track ing Smooth-Curved Welding Path Using Sliding Mode Control

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

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. T he mobile robot is considered in terms of dynamics model in Cartesian coordinates and its parameters are exactly known . 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 results are included to illustrate the performance of the control law.

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