Robust adaptive control for nonlinear discrete-time systems based on DE-GMAW

Abstract

Gas Metal Arc Welding (GMAW) is a critical process in manufacturing, known for its efficiency and versatility. The double-electrode GMAW (DE-GMAW) technique further enhances these attributes, offering superior welding speed and improved melting effects. However, controlling the DE-GMAW process effectively remains a complex challenge due to the nonlinear and dynamic nature of the system. The process involves intricate interactions between electrical, thermal, and mechanical phenomena, resulting in highly nonlinear behavior. Variations in material properties, environmental conditions, and external disturbances can adversely affect the welding process. Moreover, traditional control methods often fail to account for unmodeled dynamics and modeling errors, leading to performance degradation and potential instability. To address these challenges, this paper introduces a robust adaptive control scheme tailored for DE-GMAW systems, which combines online projection estimation identification and pole placement strategy at the same time to compensate for parameter uncertainties, external disturbances, and unmodeled dynamics. Simulation examples in welding process are carried out to demonstrate the effectiveness of the proposed robust adaptive control scheme.