中文摘要：

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。

英文摘要：

A novel adaptive sliding mode control algo- rithm 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.