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Reset integral control for improved settling of PID-based motion systems with friction
Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands..
KTH, School of Electrical Engineering and Computer Science (EECS), Automatic Control.ORCID iD: 0000-0001-5495-4481
Univ Toulouse, LAAS, CNRS, F-31400 Toulouse, France.;Univ Trento, I-38122 Trento, Italy..
Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands..
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2019 (English)In: Automatica, ISSN 0005-1098, E-ISSN 1873-2836, Vol. 107, p. 483-492Article in journal (Refereed) Published
Abstract [en]

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.

Place, publisher, year, edition, pages
PERGAMON-ELSEVIER SCIENCE LTD , 2019. Vol. 107, p. 483-492
Keywords [en]
Transient performance, Hybrid control, Motion control, Friction, Stability
National Category
Control Engineering
Identifiers
URN: urn:nbn:se:kth:diva-257801DOI: 10.1016/j.automatica.2019.06.017ISI: 000481723300053Scopus ID: 2-s2.0-85068221599OAI: oai:DiVA.org:kth-257801DiVA, id: diva2:1348981
Note

QC 20190906

Available from: 2019-09-06 Created: 2019-09-06 Last updated: 2019-09-06Bibliographically approved

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Bisoffi, Andrea

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