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.
Reset integral control for improved settling of PID-based motion systems with friction / Beerens, R., Bisoffi, A., Zaccarian, L., Heemels, W.P.M.H., Nijmeijer, H., van de Wouw, N.. - In: AUTOMATICA. - ISSN 0005-1098. - 107:(2019), pp. 483-492. [10.1016/j.automatica.2019.06.017]
Reset integral control for improved settling of PID-based motion systems with friction
Bisoffi A.;Zaccarian L.;
2019-01-01
Abstract
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.I documenti in IRIS sono protetti da copyright e tutti i diritti sono riservati, salvo diversa indicazione
