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Improving the geometric accuracy of the deposited component is essential for the wider adoption of wire arc additive manufacturing (WAAM) in industries. This paper introduces an online layer-by-layer controller that operates robustly under various welding conditions to improve the deposition accuracy of the WAAM process. Two control strategies are proposed and evaluated in this work: A PID algorithm and a multi-input multi-output model-predictive control (MPC) algorithm. After each layer of deposition, the deposited geometry is measured using a laser scanner. These measurements are compared against the CAD model, and geometric errors are then compensated by the controller, which generates a new set of welding parameters for the next layer. The MPC algorithm, combined with a linear autoregressive (ARX) modelling process, updates welding parameters between successive layers by minimizing a cost function based on sequences of input variables and predicted responses. Weighting coefficients ....

Autoregressive Model Arx , Ead Geometry Control , Old Metal Transfer Cmt Welding , Odel Predictive Control Mpc , Ire Arc Additive Manufacturing Waam ,