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KSME International Journal

, Volume 17, Issue 11, pp 1682–1692 | Cite as

Adaptive tracking control of two-wheeled welding mobile robot with smooth curved welding path

  • Trong Hieu Bui
  • Tan Lam Chung
  • Sang Bong Kim
  • Tan Tien Nguyen
Article

Abstract

This paper proposes an adaptive controller for partially known system and applies to a two-wheeled Welding Mobile Robot (WMR) to track a reference welding path at a constant velocity of the welding point. To design the tracking controller, the errors from WMR to steel wall is defined, and the controller is designed to drive the errors to zero as fast as desired. Additionally, a scheme of error measurement is implemented on the WMR to meet the need of the controller. In this paper, the system moments of inertia are considered to be partially unknown parameters which are estimated using update laws in adaptive control scheme. The simulations and experiments on a welding mobile robot show the effectiveness of the proposed controller.

Key Words

Welding Mobile Robot (WMR) Tracking Control Reference Welding Path 

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Copyright information

© The Korean Society of Mechanical Engineers (KSME) 2003

Authors and Affiliations

  • Trong Hieu Bui
    • 1
  • Tan Lam Chung
    • 1
  • Sang Bong Kim
    • 1
  • Tan Tien Nguyen
    • 2
  1. 1.Department of Mechanical Eng., College of Eng.Pukyong National UniversityNam-Gu, PusanKorea
  2. 2.Department of Mechanical Eng.Hochiminh City University of TechnologyDist. 10, Hochiminh CityVietnam

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