An adaptive sliding mode control technology for weld seam tracking

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.

Keywords

adaptive control / sliding mode control / weld seam tracking / welding robotic manipulator

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Higher Education Press and Springer-Verlag Berlin Heidelberg