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.
Hybrid PID control for transient performance improvement of motion systems with friction / Beerens, R., Bisoffi, A., Zaccarian, L., Heemels, W.P.M.H., Nijmeijer, H., Van De Wouw, N.. - 2018-:(2018), pp. 539-544. (2018 Annual American Control Conference, ACC 2018 Wisconsin Center / Hilton Milwauke City Center, usa 2018) [10.23919/ACC.2018.8431613].
Hybrid PID control for transient performance improvement of motion systems with friction
Bisoffi, A.;Zaccarian, L.;
2018-01-01
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
