Study on Robust Motion Control of Active Target Tracking with Friction Stir Welding

This paper proposes a method based on robust motion control and target tracking. This method performs hypothesis testing on the direction of robust motion of friction stir welding and on the ideal target to be welded. In order to eliminate the influence of welding defects, improve the quality of welding, and improve the reliability and sensitivity of control, the control process uses a two-way motion estimation method to normalize the residuals. On this basis, a robust active control method is proposed. This method can detect and track the welding section reliably and accurately, and adjusts its own control variables according to the target.