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

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, thereb...

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Bibliographic Details
Published inAutomatica (Oxford) Vol. 107; pp. 483 - 492
Main Authors Beerens, R., Bisoffi, A., Zaccarian, L., Heemels, W.P.M.H., Nijmeijer, H., van de Wouw, N.
Format Journal Article
LanguageEnglish
Published Elsevier Ltd 01.09.2019
Elsevier
Subjects
Automatic
Engineering Sciences
Friction
Hybrid control
Motion control
Stability
Transient performance
Stability
Friction
Transient performance
Motion control
Hybrid control
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ISSN0005-1098
1873-2836
1873-2836
DOI10.1016/j.automatica.2019.06.017

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Summary: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.
ISSN:0005-1098
1873-2836
1873-2836
DOI:10.1016/j.automatica.2019.06.017