Data-driven controller tuning of hybrid integrator-gain systems for settling time optimization

IF 4.6 2区计算机科学 Q1 AUTOMATION & CONTROL SYSTEMS

Control Engineering Practice Pub Date : 2025-09-17 DOI:10.1016/j.conengprac.2025.106555

Jonas G. Hendrikx , Wouter Weekers , Luke F. van Eijk , Marcel F. Heertjes , Nathan van de Wouw

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Abstract

In this work, we present a novel data-driven tuning framework for a class of nonlinear controllers, namely those based on the so-called hybrid integrator-gain system (HIGS). In particular, we focus on minimizing the settling time in point-to-point tasks, i.e., the time required for the error to converge and settle within a desired error bound after the task has finished. The proposed approach is based on sampled-data extremum-seeking control and allows simultaneous tuning of both linear and nonlinear parts of the controller, while guaranteeing input-to-state stability based solely on non-parametric frequency-response function data of the plant. These stability properties are guaranteed by a newly developed procedure for the data-driven verification of existing stability criteria. The efficacy of the proposed approach in tuning HIGS-based controllers for improving the settling time is validated extensively with a case study on an industrial wire bonder showing significant improvements in the worst-case settling time compared to LTI control.

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混合积分器增益系统的数据驱动控制器调谐

在这项工作中，我们为一类非线性控制器提出了一种新的数据驱动调谐框架，即基于所谓的混合积分器增益系统（HIGS）的控制器。特别是，我们专注于最小化点对点任务中的沉降时间，即在任务完成后，误差收敛并沉降在期望的误差范围内所需的时间。所提出的方法基于采样数据极值寻求控制，允许控制器的线性和非线性部分同时调谐，同时保证仅基于对象的非参数频率响应函数数据的输入到状态稳定性。这些稳定性特性通过新开发的程序来保证，该程序用于对现有稳定性标准进行数据驱动验证。所提出的方法在调整基于higs的控制器以改善沉降时间方面的有效性得到了广泛的验证，并通过对工业焊丝焊接机的案例研究表明，与LTI控制相比，最坏情况下的沉降时间有了显着改善。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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来源期刊

Control Engineering Practice 工程技术-工程：电子与电气

CiteScore

9.20

自引率

12.20%

发文量

183

审稿时长

44 days

期刊介绍： Control Engineering Practice strives to meet the needs of industrial practitioners and industrially related academics and researchers. It publishes papers which illustrate the direct application of control theory and its supporting tools in all possible areas of automation. As a result, the journal only contains papers which can be considered to have made significant contributions to the application of advanced control techniques. It is normally expected that practical results should be included, but where simulation only studies are available, it is necessary to demonstrate that the simulation model is representative of a genuine application. Strictly theoretical papers will find a more appropriate home in Control Engineering Practice''s sister publication, Automatica. It is also expected that papers are innovative with respect to the state of the art and are sufficiently detailed for a reader to be able to duplicate the main results of the paper (supplementary material, including datasets, tables, code and any relevant interactive material can be made available and downloaded from the website). The benefits of the presented methods must be made very clear and the new techniques must be compared and contrasted with results obtained using existing methods. Moreover, a thorough analysis of failures that may happen in the design process and implementation can also be part of the paper. The scope of Control Engineering Practice matches the activities of IFAC. Papers demonstrating the contribution of automation and control in improving the performance, quality, productivity, sustainability, resource and energy efficiency, and the manageability of systems and processes for the benefit of mankind and are relevant to industrial practitioners are most welcome.