Frontiers of Mechanical Engineering >

2015 , Vol. 10 >Issue 1: 95 - 101

DOI: https://doi.org/10.1007/s11465-015-0332-3

RESEARCH ARTICLE

An adaptive sliding mode control technology for weld seam tracking

  • Jie LIU 1 ,
  • Youmin HU 1 ,
  • Bo WU , 1 ,
  • Kaibo ZHOU 2 ,
  • Mingfeng GE 2
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  • 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

Received date: 15 Jan 2015

Accepted date: 14 Feb 2015

Published date: 01 Apr 2015

Copyright

2014 Higher Education Press and Springer-Verlag Berlin Heidelberg
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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.

Key words： adaptive control; sliding mode control; weld seam tracking; welding robotic manipulator

Cite this article

Jie LIU , Youmin HU , Bo WU , Kaibo ZHOU , Mingfeng GE . An adaptive sliding mode control technology for weld seam tracking[J]. Frontiers of Mechanical Engineering, 2015 , 10(1) : 95 -101 . DOI: 10.1007/s11465-015-0332-3

Acknowledgements

The work here was supported by the National Science and Technology Supporting Plan (Grant No. 2015BAF01B04), Collaborative Innovation Center of High-End Manufacturing Equipment, the National Key Basic Research Program of China (Grant No. 2011CB706803), the National Natural Science Foundation of China (Grant No. 51175208), the Fundamental Research Funds for the Central Universities (Grant Nos. 2013ZZGH001 and 2014CG006).

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