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

Research output: Contribution to journalArticleAcademicpeer-review

4 Citations (Scopus)
11 Downloads (Pure)

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 languageEnglish
Pages (from-to)483-492
Number of pages10
JournalAutomatica
Volume107
DOIs
Publication statusPublished - 1 Sep 2019

Keywords

  • Friction
  • Hybrid control
  • Motion control
  • Stability
  • Transient performance

Fingerprint Dive into the research topics of 'Reset integral control for improved settling of PID-based motion systems with friction'. Together they form a unique fingerprint.

Cite this