Augmented fractional-order reset control

Application in precision mechatronics

Conference Paper (2021)
Author(s)

Aldo Sebastian (Student TU Delft)

Nima Karbasizadeh (TU Delft - Mechatronic Systems Design)

Niranjan Saikumar (TU Delft - Mechatronic Systems Design)

S.H. Hassan HosseinNia (TU Delft - Mechatronic Systems Design)

Research Group
Mechatronic Systems Design
Copyright
© 2021 Aldo Sebastian, Nima Karbasizadeh, N. Saikumar, S. Hassan HosseinNia
DOI related publication
https://doi.org/10.1109/AIM46487.2021.9517368
More Info
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Publication Year
2021
Language
English
Copyright
© 2021 Aldo Sebastian, Nima Karbasizadeh, N. Saikumar, S. Hassan HosseinNia
Research Group
Mechatronic Systems Design
Pages (from-to)
231-238
ISBN (electronic)
978-1-6654-4139-1
Reuse Rights

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Abstract

Linear control such as PID possesses fundamental limitations, seen through the Waterbed effect. Reset control has been found to be able to overcome these limitations, while still maintaining the simplicity and ease of use of PID control due to its compatibility with the loop shaping method. However, the resetting action also gives rise to higher order harmonics that hinders consistent realization of the aforementioned expected improvement. In this paper, a fractional-order augmented state analogue of the reset integrator is investigated. This analogue is composed of a series of augmented states that each possesses unique reset values, providing the same first order harmonic behavior but reduced higher order harmonics magnitude compared to the reset integrator. The optimal number of augmented states along with the corresponding tuning values are investigated. To validate the improvement, the reset integrator and the optimal fractional order analogue are tuned to equally improve disturbance rejection of a high precision 1 DOF positioning stage while maintaining the stability level, with both designed to overcome linear control. From simulation and experimental results, it was found that the novel fractional-order augmented state analogue gives rise to disturbance rejection performance that is closer to the desired and expected improvement, compared to using the traditional reset integrator.

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