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 |
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Pages (from-to) | 483-492 |
Number of pages | 10 |
Journal | Automatica |
Volume | 107 |
DOIs | |
Publication status | Published - 1 Sept 2019 |
Keywords
- Friction
- Hybrid control
- Motion control
- Stability
- Transient performance