| 1. |
- Beerens, R., et al.
(författare)
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Hybrid PID control for transient performance improvement of motion systems with friction
- 2018
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Ingår i: 2018 Annual American Control Conference (ACC). - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 539-544
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Konferensbidrag (refereegranskat)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.
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| 2. |
- Beerens, R., et al.
(författare)
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Reset integral control for improved settling of PID-based motion systems with friction
- 2019
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Ingår i: Automatica. - : PERGAMON-ELSEVIER SCIENCE LTD. - 0005-1098 .- 1873-2836. ; 107, s. 483-492
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Tidskriftsartikel (refereegranskat)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.
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| 3. |
- Berkane, Soulaimane, et al.
(författare)
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A hybrid controller for obstacle avoidance in an n-dimensional euclidean space
- 2019
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Ingår i: 2019 18th European Control Conference, ECC 2019. - : Institute of Electrical and Electronics Engineers (IEEE). - 9783907144008 ; , s. 764-769
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Konferensbidrag (refereegranskat)abstract
- For a vehicle moving in an n-dimensional Euclidean space, we present a construction of a hybrid feedback that guarantees both global asymptotic stabilization of a reference position and avoidance of an obstacle corresponding to a bounded spherical region. The proposed hybrid control algorithm switches between two modes of operation: stabilization (motion-to-goal) and avoidance (boundary-following). The geometric construction of the flow and jump sets of the hybrid controller, exploiting a hysteresis region, guarantees robust switching (chattering-free) between stabilization and avoidance. Simulation results illustrate the performance of the proposed hybrid control approach for a 3-dimensional scenario.
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| 4. |
- Berkane, Soulaimane, et al.
(författare)
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Obstacle Avoidance via Hybrid Feedback
- 2022
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Ingår i: IEEE Transactions on Automatic Control. - : Institute of Electrical and Electronics Engineers (IEEE). - 0018-9286 .- 1558-2523. ; 67:1, s. 512-519
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we present a hybrid feedback approach to solve the navigation problem in the n-dimensional space containing an arbitrary number of ellipsoidal obstacles. The proposed algorithm guarantees both global asymptotic stabilization to a target position and avoidance of the obstacles. The controller, exploiting hysteresis regions, employs a Zeno-free switching between two modes of control: stabilization and avoidance. Simulation results illustrate the performance of the proposed approach for 2-D and 3-D scenarios.
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| 5. |
- Bisoffi, Andrea, et al.
(författare)
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A hybrid barrier certificate approach to satisfy linear temporal logic specifications
- 2018
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Ingår i: 2018 Annual American Control Conference (ACC). - : Institute of Electrical and Electronics Engineers (IEEE). ; , s. 634-639
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Konferensbidrag (refereegranskat)abstract
- In this work we formulate the satisfaction of a (syntactically co-safe) linear temporal logic specification on a physical plant through a recent hybrid dynamical systems formalism. In order to solve this problem, we introduce an extension to such a hybrid system framework of the so-called eventuality property, which matches suitably the condition for the satisfaction of such a temporal logic specification. The eventuality property can be established through barrier certificates, which we derive for the considered hybrid system framework. Using a hybrid barrier certificate, we propose a solution to the original problem. Simulations illustrate the effectiveness of the proposed method. 2018 AACC.
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| 6. |
- Bisoffi, Andrea, et al.
(författare)
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Hybrid cancellation of ripple disturbances arising in AC/DC converters
- 2017
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Ingår i: Automatica. - : PERGAMON-ELSEVIER SCIENCE LTD. - 0005-1098 .- 1873-2836. ; 77, s. 344-352
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Tidskriftsartikel (refereegranskat)abstract
- In AC/DC converters, a peculiar periodic nonsmooth waveform arises, the so-called ripple. In this paper we propose a novel model that captures this nonsmoothness by means of a hybrid dynamical system performing state jumps at certain switching instants, and we illustrate its properties with reference to a three phase diode bridge rectifier. As the ripple corrupts an underlying desirable signal, we propound two observer schemes ensuring asymptotic estimation of the ripple, the first with and the second without knowledge of the switching instants. Our theoretical developments are well placed in the context of recent techniques for hybrid regulation and constitute a contribution especially for our second observer, where the switching instants are estimated. Once asymptotic estimation of the ripple is achieved, the ripple can be conveniently canceled from the desirable signal, and thanks to the inherent robustness properties of the proposed hybrid formulation, the two observer schemes require only that the desirable signal is slowly time varying compared to the ripple. Exploiting this fact, we illustrate the effectiveness of our second hybrid observation law on experimental data collected from the Joint European Torus tokamak.
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| 7. |
- Bisoffi, Andrea, et al.
(författare)
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Hybrid model formulation and stability analysis of a PID-controlled motion system with Coulomb friction
- 2019
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Ingår i: IFAC PAPERSONLINE. - : ELSEVIER. - 2405-8963. ; , s. 84-89
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Konferensbidrag (refereegranskat)abstract
- For a PID-controlled motion system under Coulomb friction described by a differential inclusion, we present a hybrid model comprising logical states indicating whether the closed loop is in stick or in slip, thereby resembling a hybrid automaton. A key step for this description is the addition of a timer exploiting a peculiar semiglobal dwell time of the original dynamics, which then removes defective and unwanted nonconverging Zeno solutions from the hybrid model. Through it, we then revisit an existing proof of global asymptotic stability, which is significantly simplified by way of a smooth weak Lyapunov function. The relevance of the proposed hybrid representation is also illustrated on a novel control strategy resetting the PID integrator and hinging upon the proposed hybrid model.
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| 8. |
- Bisoffi, Andrea, et al.
(författare)
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Reset solutions for performance limitations induced by coulomb friction in a motion control system with a disturbance observer
- 2019
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Ingår i: IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM. - : Institute of Electrical and Electronics Engineers (IEEE). - 9781728124933 ; , s. 1187-1192
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Konferensbidrag (refereegranskat)abstract
- In a proportional-integral-derivative (PID) motion control system under Coulomb friction, a suitable reset of the integral action was recently shown in [1] to reduce significantly the settling time. Motivated by the benefits of disturbance-observer schemes (DOB) over PID schemes, we show that the DOB scheme is prone to an analogous performance limitation in the presence of Coulomb friction and extend then the reset strategy in [1] for the DOB scheme. The working principle and the effectiveness of the solution is illustrated in simulations.
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| 9. |
- Bisoffi, Andrea, et al.
(författare)
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Satisfaction of Linear Temporal Logic Specifications Through Recurrence Tools for Hybrid Systems
- 2021
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Ingår i: IEEE Transactions on Automatic Control. - : Institute of Electrical and Electronics Engineers (IEEE). - 0018-9286 .- 1558-2523. ; 66:2, s. 818-825
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Tidskriftsartikel (refereegranskat)abstract
- In this article, we formulate the problem of satisfying a linear temporal logic formula on a linear plant with output feedback, through a recent hybrid systems formalism. We relate this problem to the notion of recurrence introduced for the considered formalism, and we then extend Lyapunov-like conditions for recurrence of an open, unbounded set. One of the proposed relaxed conditions allows certifying recurrence of a suitable set, and this guarantees that the high-level evolution of the plant satisfies the formula, without relying on discretizations of the plant. Simulations illustrate the proposed approach.
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