2015年 第10卷 第1期
《机械工程前沿（英文）》 >> 2015年 第10卷 第1期 doi: 10.1007/s11465-015-0332-3
An adaptive sliding mode control technology for weld seam tracking
1. State Key Laboratory of Digital Manufacturing Equipment and Technology, Huazhong University of Science and Technology, Wuhan 430074, China.
2. School of Automation, Huazhong University of Science and Technology, Wuhan 430074, China
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摘要
A novel adaptive sliding mode control algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The proposed algorithm does not require the precise dynamic model, and is more practical. Its robustness is verified by the Lyapunov stability theory. The analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than traditional sliding mode control algorithm under various disturbances.
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