PID and Biomimetic Variable Structure Path Tracking Control in Automated Surface Finishing Processes

Klecker, Sophie; Plapper, Peter; Hichri, Bassem

Reference : PID and Biomimetic Variable Structure Path Tracking Control in Automated Surface Fini...


	Document type :	Scientific congresses, symposiums and conference proceedings : Paper published in a book
	Discipline(s) :	Engineering, computing & technology : Mechanical engineering
	To cite this reference:	http://hdl.handle.net/10993/32970

Title :	PID and Biomimetic Variable Structure Path Tracking Control in Automated Surface Finishing Processes
Language :	English
Author, co-author :	Klecker, Sophie [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
	Plapper, Peter [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
	Hichri, Bassem [University of Luxembourg > Faculty of Science, Technology and Communication (FSTC) > Engineering Research Unit >]
Publication date :	2017
Main document title :	Robotix-Academy Conference for Industrial Robotics (RACIR) 2017
Publisher :	Shaker Verlag
Peer reviewed :	No
Audience :	International
ISBN :	978-3-8440-5502-3
City :	Aachen
Country :	Germany
Event name :	Robotix-Academy Conference for Industrial Robotics (RACIR) 2017
Event date :	from 06-06-2017 to 07-06-2017
Event place (city) :	Luxembourg
Event country :	Luxembourg
Keywords :	[en] Tracking ; Control of constrained systems ; Control of switched systems ; Sliding mode control ; Adaptive control ; Robots manipulators ; Intelligent robotics
Abstract :	[en] This paper addresses freeform surface following control as one of the main challenges in automating surface finishing processes. Successive changes in constraints between the tool attached to the robotic manipulator and its surroundings are due to complex workpiece-geometries and result in a switched nonlinear system. The control problem of the latter is addressed by industrial state-of-the-art conventional PID control as well as by biomimetic variable structure control which are both applied to a benchmark path tracking problem as characteristically encountered in surface finishing.
Permalink :	http://hdl.handle.net/10993/32970

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