Robust nonlinear control of current and arc length in GMAW systems

Abstract

A feedback linearization controller based on sliding mode control action for a gas metal arc welding (GMAW) system is proposed. The controller uses nonlinear state feedback to exactly linearize and decouple the GMAW system. The linearized system is then controlled using model reference sliding mode controllers. The effect of parameter uncertainty over the closed loop system performance is investigated. Simulation results show the effectiveness of the proposed controller.