Overcoming overshoot performance limitations of linear systems with reset control

Zhao, Guanglei; Nešić, Dragan; Tan, Ying; Chen, Hua

doi:10.1016/j.automatica.2018.11.038

Cited by 57 publications

(27 citation statements)

References 24 publications

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“…where l 1 = l max (I + H T PH). Then, the closed-loop system (equation 17) is asymptotically stable under the mechanism (equations (19) and (20)).…”

Section: Reset Law Designmentioning

confidence: 99%

“…If the derivative of tracking error is included in the design of reset mechanism, the limitation of feedback control can be further overcome. 19 Currently, most researches on reset control are based on continuous output, and rarely based on sampled output. In digital control systems, the periodic sampling control strategy is generally implemented.…”

Section: Introductionmentioning

confidence: 99%

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Event-triggered reset trajectory tracking control for unmanned surface vessel system

Wang

Zhang

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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This article considers the trajectory tracking control for unmanned surface vessels with unknown time-variant external disturbances and input saturation. The strategy mainly consists of event-triggered reset sub-controller and nonlinear disturbance observer–based compensation sub-controller. To reduce network transmissions, and in the meanwhile, guarantee the desirable closed-loop behavior, the event-triggered reset control is proposed where the reset law and the event-triggered mechanism are designed separately. Both of static and dynamic event-triggered reset controllers are designed. Their corresponding stability is demonstrated using Lyapunov stability theory. Finally, numerical simulation results are presented to demonstrate the effectiveness and robustness of the proposed trajectory tracking control strategy.

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“…where l 1 = l max (I + H T PH). Then, the closed-loop system (equation 17) is asymptotically stable under the mechanism (equations (19) and (20)).…”

Section: Reset Law Designmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Event-triggered reset trajectory tracking control for unmanned surface vessel system

Wang

Zhang

2020

Proceedings of the Institution of Mechanical Engineers, Part I:

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“…Remark 5: The idea of resetting integrator state when meeting specific conditions is also formed in the so-called reset control [50] to improve the transient performance of linear systems. In this paper, unlike reset control, the integrator states are not reset to zeros and the motivation behind is different.…”

Section: ) Reset Mechanismmentioning

confidence: 99%

Performance-Guaranteed Switching Adaptive Control for Nonlinear Systems With Multiple Unknown Control Directions

et al. 2020

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In this paper, an adaptive control strategy with novel performance-guaranteed switching mechanism is proposed for a class of nonlinear parametric strict-feedback systems with unknown parameters and multiple unknown control directions. Firstly, adaptive controller is designed by combining tuning function design and barrier Lyapunov function (BLF) techniques, to handle parameter uncertainties and avoid over-parametrization phenomenon. The unknown control directions are estimated online with the proposed novel switching criterion composed of a BLF-type monitoring function and a threshold function. It is shown that the correct directions can be identified rapidly with only finite times of switching and mis-switching problem is avoided. At switching moments, a novel reset mechanism is triggered to adjust the value of integrator to avoid failure of BLF method. Consequently, tracking error of reference signal converges to zero asymptotically and all closed-loop signals are proved to be bounded. In addition, the tracking errors can be restricted into prescribed intervals without information of control directions. Numerical results demonstrate the effectiveness and performance of the proposed method. INDEX TERMS Adaptive control, barrier Lyapunov function, switching controller, unknown control directions.

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“…Paralleling these works, the scientific community has addressed in multiple ways the goal of generalizing the concept of reset systems to broader classes of controllers reaching beyond classical control solutions. Some key works with relevant references can be found in [1] where L 2 and H 2 properties are investigated, [78] where resets are addressed in a context with saturation, [87] where a generalized first-order reset element (GFORE) has been proposed and characterized, [44] where a lifting approach is used for the case of periodic resets, [88] where a special focus is on the goal of characterizing the performance limitations that can be overcome by reset control, and [84] where frequencydomain tools for stability analysis of reset control system have been proposed. Higher-dimensional generalizations of these reset controllers are proposed in [71] by focusing on a full state feedback architecture and is then generalized, in the context of linear plants, to the case of output feedback and Luenberger observers in [36].…”

Section: Introductionmentioning

confidence: 99%

To stick or to slip: A reset PID control perspective on positioning systems with friction

Bisoffi

Beerens

Heemels

et al. 2020

Annual Reviews in Control

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We overview a recent research activity where suitable reset actions induce stability and performance of PID-controlled positioning systems suffering from nonlinear frictional effects. With a Coulomb-only effect, PID feedback produces a set of equilibria whose asymptotic (but not exponential) stability can be certified by using a discontinuous Lyapunov-like function. With velocity weakening effects (the so-called Stribeck friction), the set of equilibria becomes unstable with PID feedback and the so-called "hunting phenomenon" (persistent oscillations) is experienced. Resetting laws can be used in both scenarios. With Coulomb friction only, the discontinuous Lyapunov-like function immediately suggests a reset action providing extreme performance improvement, preserving stability and inducing desirable exponential convergence of a relevant subset of the solutions. With Stribeck, a more sophisticated set of logic-based reset rules recovers global asymptotic stability of the set of equilibria, providing an effective solution to the hunting instability. We clarify here the main steps of the Lyapunov-based proofs associated to our reset-enhanced PID controllers. These proofs involve building semiglobal hybrid representations of the solutions in the form of hybrid automata whose logical variables enable transforming the aforementioned discontinuous function into smooth or at least Lipschitz ones. Our theoretical results are illustrated by extensive simulations and experimental validation on an industrial nano-positioning system.

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Overcoming overshoot performance limitations of linear systems with reset control

Cited by 57 publications

References 24 publications

Event-triggered reset trajectory tracking control for unmanned surface vessel system

Event-triggered reset trajectory tracking control for unmanned surface vessel system

Performance-Guaranteed Switching Adaptive Control for Nonlinear Systems With Multiple Unknown Control Directions

To stick or to slip: A reset PID control perspective on positioning systems with friction

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