Simple saturated PID control for fast transient of motion systems
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In: IFAC-PapersOnLine, Vol. 53, No. 2, 2020, p. 8985-8990.
Research output: Journal contributions › Conference article in journal › Research › peer-review
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TY - JOUR
T1 - Simple saturated PID control for fast transient of motion systems
AU - Su, Yuxin
AU - Zheng, Chunhong
AU - Mercorelli, Paolo
PY - 2020
Y1 - 2020
N2 - This paper proposes a simple saturated proportional-integral-derivative (PID) control for set-point stabilization of motion systems subject to actuator constraint. The proposed controller consists of a saturated proportional-derivative (PD) term and a saturated integral (I) term that robustly compensates the constant or slow time-varying unknown disturbances. It is shown that the proposed saturated PID (SPID) controller globally asymptotic stabilizes the set-point of motion systems without violation of actuator constraint. The appealing feature of the proposed approach is that it embeds the PD term within a single saturation function, which allows us to choose the proportional and derivative gains freely for faster transient and higher steady-state set-point precision. Numerical comparisons of an illustrative example demonstrate the improved performance of the proposed approach.
AB - This paper proposes a simple saturated proportional-integral-derivative (PID) control for set-point stabilization of motion systems subject to actuator constraint. The proposed controller consists of a saturated proportional-derivative (PD) term and a saturated integral (I) term that robustly compensates the constant or slow time-varying unknown disturbances. It is shown that the proposed saturated PID (SPID) controller globally asymptotic stabilizes the set-point of motion systems without violation of actuator constraint. The appealing feature of the proposed approach is that it embeds the PD term within a single saturation function, which allows us to choose the proportional and derivative gains freely for faster transient and higher steady-state set-point precision. Numerical comparisons of an illustrative example demonstrate the improved performance of the proposed approach.
KW - Actuator constraint
KW - Asymptotic stabilization
KW - Motion systems
KW - Proportional-integral-derivative (PID) control
KW - Engineering
UR - http://www.scopus.com/inward/record.url?scp=85107569198&partnerID=8YFLogxK
U2 - 10.1016/j.ifacol.2020.12.2013
DO - 10.1016/j.ifacol.2020.12.2013
M3 - Conference article in journal
AN - SCOPUS:85107569198
VL - 53
SP - 8985
EP - 8990
JO - IFAC-PapersOnLine
JF - IFAC-PapersOnLine
SN - 2405-8971
IS - 2
T2 - 21st IFAC World Congress - 2020
Y2 - 12 July 2020 through 17 July 2020
ER -