Authors: Ting Zhang Kai Li Jing Yang
Publish Date: 2010/12/30
Volume: 17, Issue: 6, Pages: 1320-1326
Abstract
To solve the seam tracking problem of mobile welding robot a new controller based on the dynamics of mobile welding robot was designed using the method of backstepping kinematics into dynamics A selfturning fuzzy controller and a fuzzyGaussian neural network FGNN controller were designed to complete coordinately controlling of crossslider and wheels The fuzzyneural control algorithm was described by applying the Gaussian function and back propagation BP learning rule was used to tune the membership function in real time by applying the FGNN controller To make the tracking more quickly and smoothly the neural network controller based on dynamic model was designed which utilized selflearning and selfadaptive ability of the neural network to deal with the partial uncertainty and the disturbances of the parameters of the robot dynamic model and realtime compensate the dynamics coupling The results show that the selected control input torques make the system globally and asymptotically stable based on the Lyapunov function selected out the accuracy of the proposed controller tracing is within ±04 mm and can satisfy the requirements of practical welding project
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