Adaptive fuzzy controller based on variable universe for seam tracking

Aiming at the problem that the precision and the self-adaption are not very well for the pure fuzzy controller in seam tracking of the welding robot, an adaptive fuzzy controller that the universe can be adjusted automatically were designed in this paper. The controller uses the windage and the speed of the windage variation as inputs, and adjusts the universe through the value of windage and windage variation. It can improve the precision and robustness of fuzzy controller. A satisfied effect are gotten by simulation.