Seam Tracking Control of Welding Robotic Manipulators Based on Adaptive Chattering-free Sliding-mode Control Technology

摘要

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.