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International Journal of Control, Automation and Systems v.1 no.1, 2003년, pp.35 - 42   피인용횟수: 3

A Simple Nonlinear Control of a Two-Wheeled Welding Mobile Robot

Bui, Trong-Hieu   (Department of mechanical Engineering, College of Eng., Pukyong National UniversityUU0000598  ); Nguyen, Tan-Tien   (Department of mechanical Engineering, Hochiminh City University  ); Chung, Tan-Lam   (Department of Mechanical Engineering, College of Eng., Pukyong National UniversityUU0000598  ); Kim, Sang-Bong   (Department of mechanical Engineering, College of Eng., Pukyong National UniversityUU0000598  );
  • 초록

    This paper proposes a simple, robust, nonlinear controller based on Lyapunov stability for tracking the reference welding path and velocity of a two-wheeled welding mobile robot (WMR). The system has three degrees of freedom including two wheels and one torch slider. Torch slider motion is used for faster tracking because the welding speed is very slow. Control law is obtained from the Lyapunov control function to ensure the asymptotical stability of the system. The controller has three free parameters for adjusting the performance of the controlled system. A simple way of measuring the errors using two potentiometers is introduced. The effectiveness of the proposed controller is shown through simulation results.


  • 주제어

    Welding mobile robot (WMR) .   tracking .   welding path reference.  

  • 참고문헌 (16)

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  • 이 논문을 인용한 문헌 (3)

    1. 2004. "" KSME international journal, 18(7): 1094~1106     
    2. 2005. "" International Journal of Control, Automation and Systems, 3(1): 32~42     
    3. 2007. "" International Journal of Control, Automation and Systems, 5(3): 283~294     

 저자의 다른 논문

  • Chung, Tan-Lam (4)

    1. 2003 "Adaptive Tracking Control of Two-Wheeled Welding Mobile Robot with Smooth Curved Welding Path" KSME international journal 17 (11): 1682~1692    
    2. 2004 "Sliding Mode Control of Two-Wheeled Welding Mobile Robot for Tracking Smooth Curved Welding Path" KSME international journal 18 (7): 1094~1106    
    3. 2004 "Wall-Following Control of a Two-Wheeled Mobile Robot" KSME international journal 18 (8): 1288~1296    
    4. 2005 "Decentralized Control Design for Welding Mobile Manipulator" Journal of mechanical science and technology 19 (3): 756~767    
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