Displacement velocity control of a mechanised welding system by low-cost state feedback controller
by Andreyna Sárila Ramos Ferreira; Débora Debiaze De Paula; Paulo Jefferson Dias De Oliveira Evald; Rodrigo Zelir Azzolin
International Journal of Modelling, Identification and Control (IJMIC), Vol. 36, No. 2, 2020

Abstract: Since welding is one of the most harmful activities in industry, robots and mechanised systems in this process are widely used. As a result, researches about autonomous and semi-autonomous welding systems become extremely important in the quest to reduce losses and improve welding quality. This paper contributes to the velocity control of the displacement module of a linear semi-autonomous welding mechanised system. We propose to use a pole placement control (PPC), which has a simple structure state feedback controller based on poles allocation, which can be applied on low-cost control platforms and use a reduced set of sensors. Experimental results, tested on a Bug-O Modular Drive System, are presented to discuss the feasibility of the proposed control strategy.

Online publication date: Tue, 13-Jul-2021

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