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

12 Citaten (Scopus)
12 Downloads (Pure)

Samenvatting

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.

Originele taal-2Engels
Pagina's (van-tot)483-492
Aantal pagina's10
TijdschriftAutomatica
Volume107
DOI's
StatusGepubliceerd - 1 sep 2019

Vingerafdruk Duik in de onderzoeksthema's van 'Reset integral control for improved settling of PID-based motion systems with friction'. Samen vormen ze een unieke vingerafdruk.

Citeer dit