中文说明：随着移动焊接机器人广泛应用于进军电子商务更灵活的控制策略，焊接机器人是需要的，但这些控制系统往往难以用传统的方法来控制，因此，非线性滑模控制方法基于可变结构控制，提出了移动机器人控制设计。滑模控制（SMC）是一种特殊的非线性控制方法具有快速响应，不受参数变化和扰动，在线识别不需要装置，其非常适合于非线性系统控制，但在现实的使用情况中，颤动还原和消除在SMC的关键问题。在本文中，移动焊接机器人的运动学模型成立，则开关功能被设计和稳定性通过Lyapnouv定理分析，也滑动模式控制器是设计了统一的趋近律，通过仿真我们可以得到在本文中所呈现的方式是有效的，可以施加到线性或非线性控制系统。
English Description：
As mobile welding robot are widely applied into e more flexible control strategy for welding robot are needed, but thesecontrol systems are often hard to control by traditional method,so a nonlinear sliding mode control method based on variablestructure control was presented for mobile robot control was designed. Sliding mode control (SMC) is a special nonlinearcontrol method which have quick response, insensitive to parameters variation and disturbance, online identification forplants are not needed, its very suitable for nonlinear system control, but in reality usage, the chattering reduction andelimination is key problem in SMC. In this paper, the kinematics models of mobile welding robot was established, theswitching function was designed and the stability was analyzed by Lyapnouv theorem, also the sliding mode controller wasdesigned with uniform reaching law , by simulation we can get the methods that pre