Báo Cáo Simple nonlinear control for smooth seam tracking of a welding mobile robo

Simple nonlinear control for smooth seam tracking of a welding mobile roboIn this paper, an simple nonlinear controller is applied to two-wheeled welding mobile robot to
track a smooth curved welding path. The mobile robot is considered in terms of kinematic model and
dynamics model in Cartesian coordinates. The system has nonholomic constraints in relation with its
coordinates and the reference welding path. To obtain the controllers, the tracking errors are defined,
and the controllers are derived based on backstepping technique to guarantee that the errors converge
to zero asymptotically. The touch sensor consists of two potentiometers including one linear
potentiometer for measuring distance error, and one rotating potentiometer for measuring angular error.
To implement the experiment, a control system is developed based on the integration of three
PIC18F452’s: two for servo DC motor controllers, and one for main controller. The two servo
controllers can perform indirect servo control using one encoder. The main controller which functions
as master links to the three servo controllers, as slave, via I2C communication. Also, the simulation
and experimental results are included to illustrate the performance of the proposed controller.