Augmented fractional-order reset control: Application in precision mechatronics

Aldo Sebastian*, Nima Karbasizadeh, Niranjan Saikumar, S. Hassan Hosseinnia

*Corresponding author for this work

Research output: Chapter in Book/Conference proceedings/Edited volumeConference contributionScientificpeer-review

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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.

Original languageEnglish
Title of host publicationProceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
PublisherIEEE
Pages231-238
ISBN (Electronic)978-1-6654-4139-1
DOIs
Publication statusPublished - 2021
Event2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021 - Delft, Netherlands
Duration: 12 Jul 202116 Jul 2021

Conference

Conference2021 IEEE/ASME International Conference on Advanced Intelligent Mechatronics, AIM 2021
CountryNetherlands
CityDelft
Period12/07/2116/07/21

Bibliographical note

Accepted Author Manuscript

Keywords

  • Fractional Calculus
  • Fractional Order Control
  • Motion control
  • Reset Control

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