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

Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer review

Uittreksel

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.

TaalEngels
Pagina's483-492
Aantal pagina's10
TijdschriftAutomatica
Volume107
DOI's
StatusGepubliceerd - 1 sep 2019

Vingerafdruk

Friction
Invariance
Hybrid systems
Closed loop systems
Controllers

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    Citeer dit

    @article{b471c14b05ff4c0aa9e11f66f1a339a4,
    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.",
    keywords = "Friction, Hybrid control, Motion control, Stability, Transient performance",
    author = "R. Beerens and A. Bisoffi and L. Zaccarian and W.P.M.H. Heemels and H. Nijmeijer and {van de Wouw}, N.",
    year = "2019",
    month = "9",
    day = "1",
    doi = "10.1016/j.automatica.2019.06.017",
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    volume = "107",
    pages = "483--492",
    journal = "Automatica",
    issn = "0005-1098",
    publisher = "Agon Elsevier",

    }

    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, blz. 483-492.

    Onderzoeksoutput: Bijdrage aan tijdschriftTijdschriftartikelAcademicpeer 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

    VL - 107

    SP - 483

    EP - 492

    JO - Automatica

    T2 - Automatica

    JF - Automatica

    SN - 0005-1098

    ER -