Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology

Youmin Hu, Jie Liu, Bo Wu, Ming-Feng Ge

Abstract

A novel adaptive sliding mode control (ASMC) algorithm is derived to deal with seam tracking control problem of welding robotic manipulator, during the process of large-scale structure component welding. The controllers robustness is verified by the Lyapunov stability theory, and the analytical results show that the proposed algorithm enables better high-precision tracking performance with chattering-free than classic sliding mode control (SMC) algorithm.

References

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  12. Figure 5: Position tracking output error.
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Paper Citation


in Harvard Style

Hu Y., Liu J., Wu B. and Ge M. (2014). Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology . In Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO, ISBN 978-989-758-040-6, pages 417-420. DOI: 10.5220/0005055104170420


in Bibtex Style

@conference{icinco14,
author={Youmin Hu and Jie Liu and Bo Wu and Ming-Feng Ge},
title={Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology},
booktitle={Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,},
year={2014},
pages={417-420},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005055104170420},
isbn={978-989-758-040-6},
}


in EndNote Style

TY - CONF
JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 2: ICINCO,
TI - Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology
SN - 978-989-758-040-6
AU - Hu Y.
AU - Liu J.
AU - Wu B.
AU - Ge M.
PY - 2014
SP - 417
EP - 420
DO - 10.5220/0005055104170420