Journal
KSME INTERNATIONAL JOURNAL
Volume 18, Issue 7, Pages 1094-1106Publisher
KOREAN SOC MECHANICAL ENGINEERS
DOI: 10.1007/BF02983284
Keywords
Welding Mobile Robot (WMR); nonholonomic; sliding mode control
Categories
Ask authors/readers for more resources
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 disturbance satisfies the matching condition with a known boundary. 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 and experiment on a two-wheeled welding mobile robot are provided to show the effectiveness of the proposed controller.
Authors
I am an author on this paper
Click your name to claim this paper and add it to your profile.
Reviews
Recommended
No Data Available