期刊
CONTROL ENGINEERING PRACTICE
卷 32, 期 -, 页码 161-171出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.conengprac.2014.08.003
关键词
Model-based predictive control; ANFIS; Machine-human cooperative control; Virtualized welding; GTAW
资金
- National Science Foundation [IIS-1208420]
This paper studies accurate control of human arm movement in machine-human cooperative control of GTAW process. An innovative teleoperated virtualized welding platform is utilized to conduct dynamic experiments to correlate the human welder arm movement with the visual signal input. An adaptive ANFIS model is proposed to model the intrinsic nonlinear and time-varying characteristic of the human welder response. A model based predictive control algorithm is then proposed and an analytical solution is derived. Human control experimental results verify that the proposed controller is able to track varying set-points and is robust under measurement and input disturbances. (C) 2014 Elsevier Ltd. All rights reserved.
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