완만한 곡선경로 추적용 이륜 용접이동로봇의 제어

다국어 초록 (Multilingual Abstract)

In this paper, a nonlinear controller based on adaptive sliding-mode method which has a sliding surface vector including new boundary function is proposed and applied to a two-wheeled welding mobile robot (WMR). This controller makes the welding point of WMR achieve tracking a reference point which is moving on a smooth curved welding path with a desired constant velocity. The mobile robot is considered in view of a kinematic model and a dynamic model in Cartesian coordinates. The proposed controller can overcome uncertainties and external disturbances by adaptive sliding-mode technique. To design the controller, the tracking error vector is defined, and then the new sliding is proposed to guarantee that the error vector converges to zero asymptotically. The stability of the dynamic system will be shown through the Lyapunov method. The simulations is shown to prove the effectiveness of the proposed controller.

목차 (Table of Contents)

• Abstract
• 1. THE WMR SYSTEM
• 2. ADAPTIVE SLIDING-MODE CONTROLLER DESIGN
• 3. SIMULATION RESULTS
• REFERENCES