Simulation of Mobile Welding Robot with Variable Structure Control

Abstract

As mobile welding robot are widely applied into industry and the weld quality are highlighted, the more flexible control strategy for welding robot are needed, but these control systems are often hard to control by traditional method, so a nonlinear sliding mode control method based on variable structure control was presented for mobile robot control was designed. Sliding mode control (SMC) is a special nonlinear control method which have quick response, insensitive to parameters variation and disturbance, online identification for plants are not needed, its very suitable for nonlinear system control, but in reality usage, the chattering reduction and elimination is key problem in SMC. In this paper, the kinematics models of mobile welding robot was established, the switching function was designed and the stability was analyzed by Lyapnouv theorem, also the sliding mode controller was designed with uniform reaching law, by simulation we can get the methods that presented in this paper is effective and can applied into linear or nonlinear control system.