An adaptive sliding mode control technology for weld seam tracking

查看全文 作　　者：Jie [1]LIU;Youmin [1]HU;Bo [1]WU;Kaibo [2]ZHOU;Mingfeng [2]GE 机构地区：[1]State Key Laboratory of Digital Manufacturing Equipment andTechnology, Huazhong University of Science and Technology, Wuhan430074, China;[2]School of Automation, Huazhong University or Science and Technol-ogy, Wuhan 430074, China 出　　处：《Frontiers of Mechanical Engineering》索引2015年第10卷第1期,共7页 基　　金：The work here was supported by the National Science and Technology Supporting Plan (Crrant No. 2015BAF01B04), Collaborative Innovation Center of High-End Manufacturing Equipment, the National Key Basic Research Program of China (Grant No. 2011 CB706803), the National Natural Science Foundation of China (Grant No. 51175208), the Funda- mental Research Funds for the Central Universities (Grant Nos. 2013ZZGH001 and 2014CG006). 摘　　要：一个新奇适应滑动模式控制算法被导出处理追踪焊接机器的操纵者的控制问题的缝接,在大规模结构部件焊接的过程期间。建议算法不要求精确动态模型,并且是更实际的。它的坚韧性被 Lyapunov 稳定性理论验证。分析结果证明建议算法启用更好的高精确的追踪性能与比在各种各样的骚乱下面的传统的滑动模式控制算法没有闲聊。 关 键 词：焊缝跟踪 自适应 控制技术 滑模 LYAPUNOV稳定性 控制算法 焊接过程 控制问题