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Reset PID design for motion systems with Stribeck friction

Abstract : We present a reset control approach to achieve setpoint regulation of a motion system with a Proportional-Integral-Derivative (PID) based controller, subject to Coulomb friction and a velocity-weakening (Stribeck) contribution. While classical PID control results in persistent oscillations (hunting), the proposed reset mechanism induces asymptotic stability of the setpoint, and significant overshoot reduction. Moreover, robustness to unknown Coulomb friction levels, and unknown Stribeck contributions is guaranteed. The closed-loop dynamics are formulated in a hybrid systems framework, using a novel hybrid description of the Coulomb friction element, and asymp-totic stability of the setpoint is proven accordingly. The working principle of the controller is demonstrated experimentally on a motion stage of an electron microscope, showing superior performance over classical PID control.
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Contributor : Ruud Beerens Connect in order to contact the contributor
Submitted on : Monday, August 31, 2020 - 1:06:42 PM
Last modification on : Tuesday, October 19, 2021 - 11:17:57 PM


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  • HAL Id : hal-02454405, version 2


Ruud Beerens, A. Bisoffi, Luca Zaccarian, H. Nijmeijer, W Heemels, et al.. Reset PID design for motion systems with Stribeck friction. [Research Report] Rapport LAAS n° 20015, Eindhoven university of technology; Rijksuniversiteit te Groningen; LAAS-CNRS; University of Trento; ASML. 2020. ⟨hal-02454405v2⟩



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