Seam Tracking for Mobile Welding Robot Based on Terminal Sliding Mode

摘要

In this paper, non-smooth controller based on terminal sliding mode is applied to mobile welding robot to track a linear welding path. According to the kinematics and dynamics models of welding mobile robot, the seam tracking error system is established considering the external disturbance. Meanwhile, the terminal sliding mode controller (TSMC) is designed to achieve the convergence of the tracking errors in finite time. The new saturation function is used to eliminate the effect of chattering instead of the sign function. Then the Lyapunov stability theory indicates that the closed-loop system is stable. Compared with the linear sliding mode controller (LSMC), the proposed non-smooth controller can offer not only a faster convergence rate but also a higher tracking accuracy. Finally, the numerical simulation is provided to demonstrate the effectiveness of the proposed controller. And it is of great significance for improving welding accuracy.