Authors:
Youmin Hu
;
Jie Liu
;
Bo Wu
and
Ming-Feng Ge
Affiliation:
Huazhong University of Science and Technology, China
Keyword(s):
Seam Tracking Control, Chattering-free, Adaptive Sliding-mode Control (ASMC), Welding Robotic Manipulator, Large-scale Structure Component.
Related
Ontology
Subjects/Areas/Topics:
Control and Supervision Systems
;
Engineering Applications
;
Informatics in Control, Automation and Robotics
;
Intelligent Control Systems and Optimization
;
Modeling, Simulation and Architectures
;
Robotics and Automation
;
Signal Processing, Sensors, Systems Modeling and Control
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.