Gas tungsten arc welding (GTAW) dynamics is a highly complicated process with strong non-linearity, time variability, multiple interference, and uncertainty. The present paper uses a non-linear Hammerstein model to describe the welding process. Based on the model, a compound intelligent controller integrating a non-linear self-tuning controller with a fuzzy logic controller is developed to regulate the welding process. Welding experiments have been conducted and verify that the proposed controller has faster response speed and steadier weld-seam formation.
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