Integral sliding mode control of two-wheeled welding mobile robot for tracking desired welding path

Abstract

This paper proposes a new nonlinear controller that makes the combination of a kinematic controller (KC) and an integral sliding mode controller (ISMC) for a welding mobile robot (WMR) to track a desired welding path with a constant velocity. First, the kinematic controller is designed to make the position error vector go to zero asymptotically. Second, the integral sliding mode controller is designed to make velocity error vector also go to zero asymptotically. The stability of system is proved based on the Lyapunov stability theory. The simulation results are shown to illustrate effectiveness of the proposed nonlinear controller. © Springer-Verlag Berlin Heidelberg 2014.