Quality control is the key issue that needs to be addressed in any gas metal arc welding (GMAW) system, especially in robotic pipeline welding system. This paper explores a second-order sliding mode control (SMC) strategy—a variable gain super-twisting control, to maximize the productivity, consistency in welding quality. This is achieved by the robust finite time output tracking of GMAW system. A nonlinear multi-input multi-output (MIMO) model of GMAW system has been considered here for the design of variable gain super-twisting (VGST) controller by which complete rejection of the bounded uncertainties/disturbances is possible and the adaptive characteristic of its gains help to use the control effort effectively. The stability of internal dynamics of the system is studied to establish the feasibility of solving the robust finite time output tracking problem. The stability of the overall system has been analyzed using Lyapunov stability criterion. The performance of the controller is demonstrated using the model of the system emulating the realistic conditions of operation. The simulation results are presented to illustrate the efficacy of the controller.
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July 2015
Technical Briefs
Variable Gain Super-Twisting Control of GMAW Process for Pipeline Welding
Manas Kr. Bera,
Manas Kr. Bera
1
Systems and Control Engineering,
e-mail: manas.bera@sc.iitb.ac.in
Indian Institute of Technology Bombay
,Mumbai 400076
, India
e-mail: manas.bera@sc.iitb.ac.in
1Corresponding author.
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Bijnan Bandyopadhyay,
Bijnan Bandyopadhyay
Professor
Systems and Control Engineering,
e-mail: bijnan@ee.iitb.ac.in
Systems and Control Engineering,
Indian Institute of Technology Bombay
,Mumbai 400076
, India
e-mail: bijnan@ee.iitb.ac.in
Search for other works by this author on:
A. K. Paul
A. K. Paul
Search for other works by this author on:
Manas Kr. Bera
Systems and Control Engineering,
e-mail: manas.bera@sc.iitb.ac.in
Indian Institute of Technology Bombay
,Mumbai 400076
, India
e-mail: manas.bera@sc.iitb.ac.in
Bijnan Bandyopadhyay
Professor
Systems and Control Engineering,
e-mail: bijnan@ee.iitb.ac.in
Systems and Control Engineering,
Indian Institute of Technology Bombay
,Mumbai 400076
, India
e-mail: bijnan@ee.iitb.ac.in
A. K. Paul
1Corresponding author.
Contributed by the Dynamic Systems Division of ASME for publication in the JOURNAL OF DYNAMIC SYSTEMS, MEASUREMENT, AND CONTROL. Manuscript received March 27, 2014; final manuscript received December 15, 2014; published online February 9, 2015. Assoc. Editor: Yongchun Fang.
J. Dyn. Sys., Meas., Control. Jul 2015, 137(7): 074501 (7 pages)
Published Online: July 1, 2015
Article history
Received:
March 27, 2014
Revision Received:
December 15, 2014
Online:
February 9, 2015
Citation
Bera, M. K., Bandyopadhyay, B., and Paul, A. K. (July 1, 2015). "Variable Gain Super-Twisting Control of GMAW Process for Pipeline Welding." ASME. J. Dyn. Sys., Meas., Control. July 2015; 137(7): 074501. https://doi.org/10.1115/1.4029408
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