Reset integral control for improved settling of PID-based motion systems with friction

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

doi:10.1016/j.automatica.2019.06.017

Reset integral control for improved settling of PID-based motion systems with friction

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

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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	https://doi.org/10.1016/j.automatica.2019.06.017
Publication status	Published - 1 Sep 2019

Keywords

Friction
Hybrid control
Motion control
Stability
Transient performance

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10.1016/j.automatica.2019.06.017

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title = "Reset integral control for improved settling of PID-based motion systems with friction",

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.",

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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

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DO - 10.1016/j.automatica.2019.06.017

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VL - 107

SP - 483

EP - 492

JO - Automatica

JF - Automatica

SN - 0005-1098

ER -

Reset integral control for improved settling of PID-based motion systems with friction

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Keywords

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