Gaussian Process Repetitive Control for Suppressing Spatial Disturbances

Noud Mooren (Corresponding author), Gert Witvoet (Corresponding author), Tom A.E. Oomen (Corresponding author)

Research output: Contribution to journalConference articlepeer-review

11 Citations (Scopus)
36 Downloads (Pure)


Motion systems are often subject to disturbances such as cogging, commutation errors, and imbalances, that vary with velocity and appear periodic in time for constant operating velocities. The aim of this paper is to develop a repetitive controller (RC) for disturbances that are not periodic in the time domain, yet occur due to an identical position-domain disturbance. A new spatial RC framework is developed, allowing to attenuate disturbances that are periodic in the position domain but manifest a-periodic in the time domain. A Gaussian process (GP) based memory is employed with a suitable periodic kernel that can effectively deal with the intermittent observations inherent to the position domain. A mechatronic example confirms the potential of the method.
Original languageEnglish
Pages (from-to)1487-1492
Number of pages6
Issue number2
Publication statusPublished - 11 Jul 2020
Event21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Germany
Duration: 12 Jul 202017 Jul 2020
Conference number: 21


FundersFunder number
Nederlandse Organisatie voor Wetenschappelijk Onderzoek
Horizon 2020 Framework Programme737453
European Commission637095
Nederlandse Organisatie voor Wetenschappelijk Onderzoek
Electronic Components and Systems for European Leadership


    • Gaussian Process
    • Position Domain
    • Repetitive Control


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