An adaptive sliding mode control technology for weld seam tracking

doi:10.1007/s11465-015-0332-3

Front. Mech. Eng.

2015, Vol. 10

Issue (1) : 95-101 https://doi.org/10.1007/s11465-015-0332-3

RESEARCH ARTICLE

An adaptive sliding mode control technology for weld seam tracking

Jie LIU¹,Youmin HU¹,Bo WU^1,^*(

),Kaibo ZHOU²,Mingfeng GE²

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

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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.

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

Corresponding Author(s): Bo WU

Issue Date: 01 April 2015

Cite this article:

Jie LIU,Youmin HU,Bo WU, et al. An adaptive sliding mode control technology for weld seam tracking[J]. Front. Mech. Eng., 2015, 10(1): 95-101.

URL:

https://academic.hep.com.cn/fme/EN/10.1007/s11465-015-0332-3
https://academic.hep.com.cn/fme/EN/Y2015/V10/I1/95

Fig.1 Manual welding is still dominated and adopted (provided by Weihua Group in Henan, China)

Fig.2 Block diagram of the proposed adaptive sliding mode controller

Fig.3 A 3-link robot manipulator

Tab.1 Robotic manipulator parameter values

Tab.2 Initial conditions of the robotic manipulator

Fig.4 Position tracking error. (a) Traditional adaptive sliding mode control (α=0); (b) proposed adaptive sliding mode control (α≠0)

Fig.5 Position velocity tracking error. (a) Traditional adaptive sliding mode control (α=0); (b) proposed adaptive sliding mode control (α≠0)

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