Model Reference Control Applied on the Velocity Tracking of a Welding Robot

Authors

DOI:

https://doi.org/10.21575/25254782rmetg2021vol6n41464

Keywords:

Model Reference Controller, Welding Robot, Velocity Control, Dynamic System.

Abstract

Robotics has been expanding over last decades, employed mainly to the activities that are most harmful to human beings. Considering that welding is one of the most risky activities in industries, studies and researches in the process automation are quite important. In this context, this work contributes to the control of the velocity tracking of the displacement of a linear welding robot. The mathematical modelling of the robot is presented, and the chosen control technique is Model Reference Control, which allows project controller based on the desired behaviour for the robot. To corroborate controller effectiveness, simulation and experimental results are presented and discussed, proving that proposed technique is adequate to control the robot velocity.

Author Biographies

  • Andreyna Sárila Ramos Ferreira, Federal University of Rio Grande
    Andreyna Sárila Ramos Ferreira received her B.E. at Federal University of Rio Grande. She is currently a master degree student in Electronic and Computer Engineering, at Aeronautics Institute of Technology. Her research interests include issues related to mathematical modelling, identification of dynamical systems and control application. Currently works with aeronautical systems and predictive control. She is an author of research studies published at national and international conference proceedings.
  • Débora Debiaze de Paula, Federal University of Rio Grande
    Débora Debiaze de Paula received her B.E. at Federal University of Rio Grande. She is currently a master degree student at Computer Science Center, Federal University of Rio Grande. Her research interests include issues related to electronics, mathematical modelling of systems, applied control, visual computing and underwater robotics. She is an author of research studies published at national and international conference proceedings.
  • Paulo Jefferson Dias de Oliveira Evald, Federal University of Rio Grande
    Paulo Jefferson Dias de Oliveira Evald received his B.E. and M.Sc. at Federal University of Rio Grande. He is currently a Ph.D. Candidate at Technology Center, Federal University of Santa Maria  and is Assistant Professor at Fransciscan University. His research interests include issues related to mathematical modelling of nonlinear systems, discrete-time control theory, robust adaptive controllers and renewable energy applications. He is an author of research studies published at international conference proceedings and journals.
  • Rodrigo Zelir Azzolin, Federal University of Rio Grande
    Rodrigo Zelir Azzolin received his Ph.D. at Federal University of Santa Maria. He is currently a Assistant Professor at Computer Science Center, Federal University of Rio Grande. His research interests include issues related to modelling and identification of dynamical systems, control application on electrical machines and energy efficiency systems. He is an author of a great deal of research studies published at national and international conference proceedings, journals and book chapters.

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Published

2021-12-29

Issue

Vol. 6 No. 4 (2021)

Section

Artigos Gerais

License

Copyright (c) 2021 Andreyna Sárila Ramos Ferreira

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