• Proceedings of the Membrane Society of Korea Conference
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• 2000.11a
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• pp.136-139
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• 2000

No Abstract, See Full Text

• Proceedings of the KOSOMBE Conference
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• v.1993 no.11
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• pp.85-88
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• 1993

• Proceedings of the Materials Research Society of Korea Conference
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• 1998.08a
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• pp.120.1-120
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• 1998

• Proceedings of the Materials Research Society of Korea Conference
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• 1998.08a
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• pp.120.3-120
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• 1998

• Proceedings of the Materials Research Society of Korea Conference
• /
• 1998.08a
• /
• pp.131.3-131
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• 1998

• Proceedings of the Materials Research Society of Korea Conference
• /
• 1998.08a
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• pp.121.1-121
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• 1998

• Proceedings of the Materials Research Society of Korea Conference
• /
• 1998.08a
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• pp.125.1-125
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• 1998

• Proceedings of the Materials Research Society of Korea Conference
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• 1998.08a
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• pp.149.3-149
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• 1998

• Proceedings of the Materials Research Society of Korea Conference
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• 1998.08a
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• pp.116.3-116
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• 1998

• 제어로봇시스템학회:학술대회논문집
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• 2003.10a
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• pp.1418-1423
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• 2003

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.