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Authors: Youmin Hu ; Jie Liu ; Bo Wu and Ming-Feng Ge

Affiliation: Huazhong University of Science and Technology, China

ISBN: 978-989-758-040-6

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.

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Paper citation in several formats:
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 1: ICINCO, ISBN 978-989-758-040-6, pages 417-420. DOI: 10.5220/0005055104170420

@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 1: ICINCO,},
year={2014},
pages={417-420},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0005055104170420},
isbn={978-989-758-040-6},
}

TY - CONF

JO - Proceedings of the 11th International Conference on Informatics in Control, Automation and Robotics - Volume 1: 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

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