Abstract
We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.
| Original language | English |
|---|---|
| Pages (from-to) | 483-492 |
| Number of pages | 10 |
| Journal | Automatica |
| Volume | 107 |
| DOIs | |
| Publication status | Published - 1 Sep 2019 |
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Keywords
- Friction
- Hybrid control
- Motion control
- Stability
- Transient performance
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Reset integral control for improved settling of PID-based motion systems with friction. / Beerens, R. (Corresponding author); Bisoffi, A.; Zaccarian, L.; Heemels, W.P.M.H.; Nijmeijer, H.; van de Wouw, N.
In: Automatica, Vol. 107, 01.09.2019, p. 483-492.Research output: Contribution to journal › Article › Academic › peer-review
TY - JOUR
T1 - Reset integral control for improved settling of PID-based 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 - 2019/9/1
Y1 - 2019/9/1
N2 - We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.
AB - We present a reset control approach to improve the transient performance of a PID-controlled motion system subject to Coulomb and viscous friction. A reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the solution overshoots the setpoint, thereby significantly reducing the settling time. Robustness for unknown static friction levels is obtained. The closed-loop system is formulated through a hybrid systems framework, within which stability is proven using a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the proposed reset controller is analyzed in an experimental benchmark study of an industrial high-precision positioning machine.
KW - Friction
KW - Hybrid control
KW - Motion control
KW - Stability
KW - Transient performance
UR - http://www.scopus.com/inward/record.url?scp=85068221599&partnerID=8YFLogxK
U2 - 10.1016/j.automatica.2019.06.017
DO - 10.1016/j.automatica.2019.06.017
M3 - Article
AN - SCOPUS:85068221599
VL - 107
SP - 483
EP - 492
JO - Automatica
JF - Automatica
SN - 0005-1098
ER -