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Hybrid PID control for transient performance improvement of motion systems with friction
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.
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2018 (English)In: 2018 Annual American Control Conference (ACC), Institute of Electrical and Electronics Engineers (IEEE), 2018, p. 539-544, article id 8431613Conference paper, Published paper (Refereed)
Abstract [en]

We present a novel reset control approach to improve transient performance of a PID-controlled motion system subject to friction. In particular, a reset integrator is applied to circumvent the depletion and refilling process of a linear integrator when the system overshoots the setpoint, thereby significantly reducing settling times. Moreover, robustness for unknown static friction levels is obtained. A hybrid closed-loop system formulation is derived, and stability follows from a discontinuous Lyapunov-like function and a meagre-limsup invariance argument. The working principle of the controller is illustrated by means of a numerical example.

Place, publisher, year, edition, pages
Institute of Electrical and Electronics Engineers (IEEE), 2018. p. 539-544, article id 8431613
Series
Proceedings of the American Control Conference, ISSN 0743-1619
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-234715DOI: 10.23919/ACC.2018.8431613Scopus ID: 2-s2.0-85052569738ISBN: 9781538654286 (print)OAI: oai:DiVA.org:kth-234715DiVA, id: diva2:1246772
Conference
2018 Annual American Control Conference, ACC 2018, Wisconsin Center / Hilton Milwauke City CenterMilwauke, United States, 27 June 2018 through 29 June 2018
Note

QC 20180910

Available from: 2018-09-10 Created: 2018-09-10 Last updated: 2018-09-10Bibliographically approved

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Bisoffi, Andrea

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