Development of robust fractional-order reset control

Development of robust fractional-order reset control

Chen, Linda (Student TU Delft; Hoogewerf Engineering)
Saikumar, N. (TU Delft Mechatronic Systems Design)
Hassan HosseinNia, S. (TU Delft Mechatronic Systems Design)

2019

In this paper, a framework for the combination of robust fractional-order CRONE control with nonlinear reset is given for both first and second generation CRONE control. General design rules are derived and presented for these CRONE reset controllers. Within this framework, fractional-order control allows for better tuning of the open-loop responses on the one hand. On the other hand, reset control enables a reduction in phase lag and a corresponding increase in phase margin compared to linear control for similar open-loop gain profile. Hence, the combination of the two control methods can provide well-tuned open-loop responses that can overcome the fundamental linear control limitation of Bode's gain-phase relationship. Moreover, as established loop-shaping concepts are used in the controller design, CRONE reset can be highly compatible with the industry. The designed CRONE reset controllers are validated on a one degree-of-freedom Lorentz-actuated precision positioning stage. On this setup, CRONE reset control is shown to provide better tracking performance compared to linear CRONE control, which is in agreement with the predicted performance improvement.

CRONE
CRONE reset control
fractional-order control
fractional-order reset control
loop shaping
mechatronics
nonlinear control
precision motion control
reset control
robust control

http://resolver.tudelft.nl/uuid:c639f779-0c7d-42f2-9a0d-f25502cfb4ae

https://doi.org/10.1109/TCST.2019.2913534

1063-6536

IEEE Transactions on Control Systems Technology, 28 (2020) (4), 1404-1417

Accepted Author Manuscript

Institutional Repository

journal article

© 2019 Linda Chen, N. Saikumar, S. Hassan HosseinNia