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Flexible Automation and Intelligent Manufacturing,  1997:<br>Proceedings of the Seventh International FAIM Conference

ISBN:
978-1-56700-089-4 (Print)
978-1-56700-442-7 (Online)

ADAPTIVE CONTROLLERS FOR THE REGULATION OF THE GEOMETRICAL AND THERMAL CHARACTERISTICS OF GMA WELDING

S. G. Tzafestas
Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens 15773, Zografou Campus, Athens, Greece

E. J. Kyriannakis
Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens 15773, Zografou Campus, Athens, Greece

G. G. Rigatos
Intelligent Robotics and Automation Laboratory Department of Electrical and Computer Engineering National Technical University of Athens 15773, Zografou Campus, Athens, Greece

Abstract

The application of automatic control to arc welding processes is necessary for minimizing the defects caused by the improper regulation of parameters like arc voltage and current, or travel speed of the torch. Among the various controllers available, the adaptive ones seem to be more appropriate and successful, producing weldments of high quality and strength. This paper investigates and compares the effectiveness of three different classes of adaptive controllers when applied to GMA welding, namely (i) the Lyapunov model reference adaptive controller, (ii) the adaptive pseudogradient controller, and (iii) the multivariable self-tuning controller.