PID and Biomimetic Variable Structure Path Tracking Control in Automated Surface Finishing Processes
English
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 >]
2017
Robotix-Academy Conference for Industrial Robotics (RACIR) 2017
Shaker Verlag
No
International
978-3-8440-5502-3
Aachen
Germany
Robotix-Academy Conference for Industrial Robotics (RACIR) 2017
from 06-06-2017 to 07-06-2017
Luxembourg
Luxembourg
[en] Tracking ; Control of constrained systems ; Control of switched systems ; Sliding mode control ; Adaptive control ; Robots manipulators ; Intelligent robotics
[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.