Hybrid PID control for transient performance improvement of motion systems with friction

R. Beerens; A. Bisoffi; L. Zaccarian; W.P.M.H. Heemels; H. Nijmeijer; N. van de Wouw

doi:10.23919/ACC.2018.8431613

Hybrid PID control for transient performance improvement of motion systems with friction

R. Beerens
, A. Bisoffi
, L. Zaccarian
, W.P.M.H. Heemels
, H. Nijmeijer
, N. van de Wouw

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

7 Citations (Scopus)

4 Downloads (Pure)

Abstract

We present a novel reset control approach to improve transient performance of a PID-controlled motion system subject to friction. In particular, a reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the system overshoots the setpoint, thereby significantly reducing settling times. Moreover, robustness for unknown static friction levels is obtained. A hybrid closed-loop system formulation is derived, and stability follows from a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the controller is illustrated by means of a numerical example.

Original language	English
Title of host publication	2018 Annual American Control Conference, ACC 2018
Publisher	Institute of Electrical and Electronics Engineers
Pages	539-544
Number of pages	6
Volume	2018-June
ISBN (Print)	9781538654286
DOIs	https://doi.org/10.23919/ACC.2018.8431613
Publication status	Published - 9 Aug 2018
Event	2018 American Control Conference (ACC 2018) - Hilton Milwaukee City Center Hotel, Milwaukee, Wisconsin, United States Duration: 27 Jun 2018 → 29 Jun 2018 http://acc2018.a2c2.org/

Conference

Conference	2018 American Control Conference (ACC 2018)
Abbreviated title	ACC 2018
Country/Territory	United States
City	Milwaukee, Wisconsin
Period	27/06/18 → 29/06/18
Internet address	http://acc2018.a2c2.org/

Access to Document

10.23919/ACC.2018.8431613

Cite this

Beerens, R., Bisoffi, A., Zaccarian, L., Heemels, W. P. M. H., Nijmeijer, H., & van de Wouw, N. (2018). Hybrid PID control for transient performance improvement of motion systems with friction. In 2018 Annual American Control Conference, ACC 2018 (Vol. 2018-June, pp. 539-544). Institute of Electrical and Electronics Engineers. https://doi.org/10.23919/ACC.2018.8431613

@inproceedings{8fafff8bb5c74263bfc99f7e509f8768,

title = "Hybrid PID control for transient performance improvement of motion systems with friction",

abstract = "We present a novel reset control approach to improve transient performance of a PID-controlled motion system subject to friction. In particular, a reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the system overshoots the setpoint, thereby significantly reducing settling times. Moreover, robustness for unknown static friction levels is obtained. A hybrid closed-loop system formulation is derived, and stability follows from a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the controller is illustrated by means of a numerical example.",

author = "R. Beerens and A. Bisoffi and L. Zaccarian and W.P.M.H. Heemels and H. Nijmeijer and \{van de Wouw\}, N.",

year = "2018",

month = aug,

day = "9",

doi = "10.23919/ACC.2018.8431613",

language = "English",

isbn = "9781538654286",

volume = "2018-June",

pages = "539--544",

booktitle = "2018 Annual American Control Conference, ACC 2018",

publisher = "Institute of Electrical and Electronics Engineers",

address = "United States",

note = "2018 American Control Conference (ACC 2018), ACC 2018 ; Conference date: 27-06-2018 Through 29-06-2018",

url = "http://acc2018.a2c2.org/",

}

Beerens, R, Bisoffi, A, Zaccarian, L, Heemels, WPMH , Nijmeijer, H & van de Wouw, N 2018, Hybrid PID control for transient performance improvement of motion systems with friction. in 2018 Annual American Control Conference, ACC 2018. vol. 2018-June, Institute of Electrical and Electronics Engineers, pp. 539-544, 2018 American Control Conference (ACC 2018), Milwaukee, Wisconsin, United States, 27/06/18. https://doi.org/10.23919/ACC.2018.8431613

Hybrid PID control for transient performance improvement of motion systems with friction. / Beerens, R.; Bisoffi, A.; Zaccarian, L. et al.
2018 Annual American Control Conference, ACC 2018. Vol. 2018-June Institute of Electrical and Electronics Engineers, 2018. p. 539-544.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic › peer-review

TY - GEN

T1 - Hybrid PID control for transient performance improvement of motion systems with friction

AU - Beerens, R.

AU - Bisoffi, A.

AU - Zaccarian, L.

AU - Heemels, W.P.M.H.

AU - Nijmeijer, H.

AU - van de Wouw, N.

PY - 2018/8/9

Y1 - 2018/8/9

N2 - We present a novel reset control approach to improve transient performance of a PID-controlled motion system subject to friction. In particular, a reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the system overshoots the setpoint, thereby significantly reducing settling times. Moreover, robustness for unknown static friction levels is obtained. A hybrid closed-loop system formulation is derived, and stability follows from a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the controller is illustrated by means of a numerical example.

AB - We present a novel reset control approach to improve transient performance of a PID-controlled motion system subject to friction. In particular, a reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the system overshoots the setpoint, thereby significantly reducing settling times. Moreover, robustness for unknown static friction levels is obtained. A hybrid closed-loop system formulation is derived, and stability follows from a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the controller is illustrated by means of a numerical example.

UR - https://www.scopus.com/pages/publications/85052569738

U2 - 10.23919/ACC.2018.8431613

DO - 10.23919/ACC.2018.8431613

M3 - Conference contribution

AN - SCOPUS:85052569738

SN - 9781538654286

VL - 2018-June

SP - 539

EP - 544

BT - 2018 Annual American Control Conference, ACC 2018

PB - Institute of Electrical and Electronics Engineers

T2 - 2018 American Control Conference (ACC 2018)

Y2 - 27 June 2018 through 29 June 2018

ER -

Hybrid PID control for transient performance improvement of motion systems with friction

Abstract

Conference

Access to Document

Other files and links

Fingerprint

Cite this