A nonlinear sliding mode control method for mobile robot control

Author

Hongxing, Wang ; Huiming, Huang ; Fang, Dai

Author_Institution

Dept. of Mech. & Electr. Eng., NanChang Inst. of Technol., Nanchang, China

Volume

2

fYear

2010

fDate

June 29 2010-July 1 2010

Firstpage

232

Lastpage

235

Abstract

Welding is an important material processing method and widely used in industry. With the development of technology and the realization of the welding process, the required weld quality is higher and higher; applying the robot to the welding process is a revolutionary development, which totally changes the typical mode of rigid atomization to the flexible mode. Welding robot are made up of robot, robot controller and welding power and other equipments, it is stable and can enhance welding quality greatly, so it is a important application area for industrial robots. In this paper, the kinematics model of mobile welding robot was established and a sliding mode controller was designed, by Lyapnouv theory the stability was proved. The simulation shows the control performance and chattering reduction effect.

Keywords

Lyapunov methods; industrial robots; mobile robots; nonlinear control systems; robot kinematics; robotic welding; variable structure systems; Lyapnouv theory; chattering reduction effect; industrial robots; kinematics model; material processing; mobile robot control; nonlinear sliding mode control method; stability; weld quality; welding robot; Backstepping; Manganese; Robots; Welding; Mobile Robot; Simulation; Sliding Mode Control;

fLanguage

English

Publisher

ieee

Conference_Titel

Communication Systems, Networks and Applications (ICCSNA), 2010 Second International Conference on

Conference_Location

Hong Kong

Print_ISBN

978-1-4244-7475-2

Type

conf

DOI

10.1109/ICCSNA.2010.5588877

Filename

5588877