Gaussian Process Repetitive Control for Suppressing Spatial Disturbances

Noud Mooren; Gert Witvoet; Tom A.E. Oomen

doi:10.1016/j.ifacol.2020.12.1939

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 journal › Conference article › peer-review

5 Citations (Scopus)

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Abstract

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 language	English
Pages (from-to)	1487-1492
Number of pages	6
Journal	IFAC-PapersOnLine
Volume	53
Issue number	2
DOIs	https://doi.org/10.1016/j.ifacol.2020.12.1939
Publication status	Published - 11 Jul 2020
Event	21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress) - Berlin, Germany Duration: 12 Jul 2020 → 17 Jul 2020 Conference number: 21 https://www.ifac2020.org/

Keywords

Gaussian Process
Position Domain
Repetitive Control

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10.1016/j.ifacol.2020.12.1939

MoorenWitOom2020bSubmitted manuscript, 994 KB
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title = "Gaussian Process Repetitive Control for Suppressing Spatial Disturbances",

abstract = "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.",

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T1 - Gaussian Process Repetitive Control for Suppressing Spatial Disturbances

AU - Mooren, Noud

AU - Witvoet, Gert

AU - Oomen, Tom A.E.

N1 - Conference code: 21

PY - 2020/7/11

Y1 - 2020/7/11

N2 - 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.

AB - 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.

KW - Gaussian Process

KW - Position Domain

KW - Repetitive Control

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DO - 10.1016/j.ifacol.2020.12.1939

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EP - 1492

JO - IFAC-PapersOnLine

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T2 - 21st World Congress of the International Federation of Aufomatic Control (IFAC 2020 World Congress)

Y2 - 12 July 2020 through 17 July 2020

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Gaussian Process Repetitive Control for Suppressing Spatial Disturbances

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