Control of human arm movement in machine-human cooperative welding process

Yu Kang Liu, Yu Ming Zhang

Research output: Contribution to journalArticlepeer-review

34 Scopus citations


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.

Original languageEnglish
Pages (from-to)161-171
Number of pages11
JournalControl Engineering Practice
StatePublished - Nov 1 2014

Bibliographical note

Publisher Copyright:
© 2014 Elsevier Ltd.


  • GTAW
  • Machine-human cooperative control
  • Model-based predictive control
  • Virtualized welding

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering
  • Applied Mathematics


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