Stable tracking control of autonomous welding mobile robots based on kinematics model

This paper proposes a stable tracking control law for mobile platform and welding torch of Autonomous Welding Mobile Robot used in shipbuilding and large spherical tank welding. Stability of the law is proved through the use of a Liapunov function. Not only the moving and rotating velocity of the robot is controlled, but also the moving velocity of the cross slider is controlled. In the simulation, we analyze the effects of different control parameters in line tracking problem. And the tracking response in circle-line tracking problem is also presented. It is shown that the output responses represent non-oscillatory property and effectiveness of the tracking law.