Title: Displacement velocity control of a mechanised welding system by low-cost state feedback controller

Authors: Andreyna Sárila Ramos Ferreira; Débora Debiaze De Paula; Paulo Jefferson Dias De Oliveira Evald; Rodrigo Zelir Azzolin

Addresses: Intelligent Robotics and Automation Group, Computer Science Centre, Federal University of Rio Grande, Rio Grande, RS, 96203-900, Brazil ' Intelligent Robotics and Automation Group, Computer Science Centre, Federal University of Rio Grande, Rio Grande, RS, 96203-900, Brazil ' Intelligent Robotics and Automation Group, Computer Science Centre, Federal University of Rio Grande, Rio Grande, RS, 96203-900, Brazil ' Intelligent Robotics and Automation Group, Computer Science Centre, Federal University of Rio Grande, Rio Grande, RS, 96203-900, Brazil

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.

Keywords: state feedback control; PPC; pole placement control; velocity control; poles allocation; linear welding robot; mechanised system; low-cost control platform; robot modelling; welding system.

DOI: 10.1504/IJMIC.2020.116194

International Journal of Modelling, Identification and Control, 2020 Vol.36 No.2, pp.136 - 144

Received: 20 Feb 2020
Accepted: 10 Aug 2020

Published online: 02 Jul 2021 *

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