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

KSME International Journal

Volumn 17, Issue 11, 2003, Pages 1682-1692

  Bui, Trong Hieu ^a   Chung, Tan Lam ^a   Kim, Sang Bong ^a   Nguyen, Tan Tien ^b  

^a Pukyong National University   (South Korea)

^b Ho Chi Minh City University of Technology   (Viet Nam)

Author keywords

Reference Welding Path; Tracking Control; Welding Mobile Robot (WMR)

Indexed keywords

COMPUTER SIMULATION; CONTROL EQUIPMENT; ELECTRONIC CIRCUIT TRACKING; ERROR DETECTION; METHOD OF MOMENTS; STEEL STRUCTURES; VELOCITY CONTROL; WELDING;

MOMENTS OF INERTIA; REFERENCE WELDING PATH; TRACKING CONTROL; WELDING MOBILE ROBOTS (WMR);

MOBILE ROBOTS;

EID: 2942660064     PISSN: 12264865     EISSN: None     Source Type: Journal    
DOI: 10.1007/BF02983598     Document Type: Article

References (16)

1. th Conf. on Decision & Control, USA, pp. 3805-3810.
2. Fukao, T., Nakagawa, H. and Adachi, N., 2000, "Adaptive Tracking Control of a Nonholonomic Mobile Robot," IEEE Trans. on Robotics and Automation, Vol. 16, No. 5, pp. 609-615.
3. Gonzalez De Santos P., Armada, M. A. and Jimenez, M. A., 2000, "Ship Building with ROWER," IEEE Robotics & Automation Magazine, pp. 35-43.
4. Jean-Jacques E. Slotine and Weiping Li, 1991, Applied Nonlinear Control, Prentice-Hall International, Inc., pp. 122-125.
5. th IEEE Int. Symposium on Industrial Electronics, Korea, Vol. 2, pp. 857-862.
6. Jeon, Y. B., Park, S. S. and Kim, S. B., 2002, "Modeling and Motion Control of Mobile Robot for Lattice Type of Welding," KSME International Journal, Vol. 16, No. 1, pp. 83-93.
7. th IEEE Int. Symposium on Industrial Electronics, Korea, Vol. 2, pp. 851-856.
8. Lee, T. C., Song, K. T., Lee, C. H. and Teng, C. C., 2001, "Tracking Control of Unicycle-Modeled Mobile Robots Using a Saturation Feedback Controller," IEEE Trans. on Control Systems Technology, Vol. 9, No. 2, pp. 305-318.
9. Lefeber, E., Jakubiak J., Tchon, K. and Nijmeijer, H., 2001, "Observer Based Kinematic Tracking Controllers for a Unicycle-type Mobile Robot," Proc. of the 2001 IEEE Int. Conf. on Robotics & Automation, Korea, pp. 2084-2089.
10. th Conf. on Decision and Control, Kobe, Japan, pp. 1422-1427.
11. Sarkar, N., Yun, X. and Kumar, V., 1994, "Control of Mechanical Systems With Rolling Constraints: Application to Dynamic Control of Mobile Robots," The Int. Journal of Robotics Research, Vol. 13, No. 1, pp. 55-69.
12. th Conf. on Decision & Control, California USA, pp. 1298-1301.
13. Tsuchia, K., Urakubo, T. and Tsujita, K., 1999, "A Motion Control of a Two-Wheeled Mobile Robot," Proc. of the 1999 IEEE Int. Conf. on Systems, Man, and Cybernetics, Vol. V, pp. 690-696.
14. Yun, X. and Sarkar, N., 1996, "Dynamics Feedback Control of Vehicles with Two Steerable Wheels," Proc. of the 1996 IEEE Int. Conf. on Robotics and Automation, pp. 3105-3110.
15. Yun, X. and Yamamoto, Y., 1993, "Internal Dynamics of a Wheeled Mobile Robot," Proc. of the 1993 IEEE/RSJ Int. Conference on Intelligent Robots and Systems, Japan, pp. 1288-1294.
16. th Conf. on Decision & Control, pp. 3831-3836.