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

2014

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.

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