학술논문
Hybrid PID control for transient performance improvement of motion systems with friction
Document Type
Conference
Source
2018 Annual American Control Conference (ACC) American Control Conference (ACC), 2018 Annual. :539-544 Jun, 2018
Subject
Language
ISSN
2378-5861
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.