2025/03/19 by Xinxin Zhang, Zhang, Xinxin, S. Hassan HosseinNia +1
Engineering · #Adaptive Control of Nonlinear Systems #FOS: Electrical engineering #Inertial Sensor and Navigation #Robotic Mechanisms and Dynamics #Systems and Control (eess.SY) #electronic engineering #information engineering
paper · pdf · doi:10.48550/arxiv.2503.15020
openalex publication_date 2025/03/19 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28
This study presents a shaped reset feedback control strategy to enhance the performance of precision motion systems. The approach utilizes a phase-lead compensator as a shaping filter to tune the phase of reset instants, thereby shaping the nonlinearity in the first-order reset control. The design achieves either an increased phase margin while maintaining gain properties or improved gain without sacrificing phase margin, compared to reset control without the shaping filter. Then, frequency-domain design procedures are provided for both Clegg Integrator (CI)-based and First-Order Reset Element (FORE)-based reset control systems. Finally, the effectiveness of the proposed strategy is demonstrated through two experimental case studies on a precision motion stage. In the first case, the shaped reset control leverages phase-lead benefits to achieve zero overshoot in the transient response. In the second case, the shaped reset control strategy enhances the gain advantages of the previous reset element, resulting in improved steady-state performance, including better tracking precision and disturbance rejection, while reducing overshoot for an improved transient response.