2015, Volume 10, Issue 1
Frontiers of Mechanical Engineering >> 2015, Volume 10, Issue 1 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
Next Previous
Abstract
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.
京公网安备 11010502051620号
