2019
DOI: 10.1016/j.automatica.2019.06.017
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Reset integral control for improved settling of PID-based motion systems with friction

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Cited by 40 publications
(70 citation statements)
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“…The results presented in this paper provide a unified and comprehensive overview of the research accomplishments reported in [22,17,18,21,15] and the preliminary works [16,19]. As compared to those works we provide here a unified development, highlighting the importance of building hybrid models comprising logic variables to allow for the construction of smooth or Lipschitz Lyapunov functions, in addition to including a novel understanding of the exponential convergence properties of certain solutions in the Coulomb friction case.…”
Section: Introductionmentioning
confidence: 81%
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“…The results presented in this paper provide a unified and comprehensive overview of the research accomplishments reported in [22,17,18,21,15] and the preliminary works [16,19]. As compared to those works we provide here a unified development, highlighting the importance of building hybrid models comprising logic variables to allow for the construction of smooth or Lipschitz Lyapunov functions, in addition to including a novel understanding of the exponential convergence properties of certain solutions in the Coulomb friction case.…”
Section: Introductionmentioning
confidence: 81%
“…We emphasize that Assumption 1 is stronger than (implies) Assumption 2, but characterizes a simplified setting addressed in [8] and more recently addressed in our works [22,17]. Assumption 2 is weaker and therefore requires more advanced techniques, presented in [18].…”
Section: Assumption 2 (Stribeck Friction)mentioning
confidence: 99%
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“…in which is the position of each system with respect to its equilibrium, , are its velocity and mass, respectively, and ( ) is a known external input force. We suppose that the masses are connected by a spring with stiffness coefficient and subject to Coulomb frictions described as in [26,27] by the set-valued maps ⇉ Ψ ( ),…”
Section: Numerical Examplementioning
confidence: 99%