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Content Provider | SpringerLink |
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Author | Liu, Jie Hu, Youmin Wu, Bo Zhou, Kaibo Ge, Mingfeng |
Copyright Year | 2015 |
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. |
Starting Page | 95 |
Ending Page | 101 |
Page Count | 7 |
File Format | |
ISSN | 20950233 |
Journal | Frontiers of Mechanical Engineering |
Volume Number | 10 |
Issue Number | 1 |
e-ISSN | 20950241 |
Language | English |
Publisher | Higher Education Press |
Publisher Date | 2015-03-27 |
Publisher Institution | Chinese Universities |
Publisher Place | Heidelberg |
Access Restriction | Subscribed |
Subject Keyword | adaptive control sliding mode control weld seam tracking welding robotic manipulator Mechanical Engineering |
Content Type | Text |
Resource Type | Article |
Subject | Mechanical Engineering |
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