Gaussian Process Repetitive Control With Application to an Industrial Substrate Carrier System With Spatial Disturbances

被引：8
作者：
Mooren, Noud [1 ]
Witvoet, Gert [1 ,2 ]
Oomen, Tom [1 ,3 ]
机构：
[1] Eindhoven Univ Technol, Dept Mech Engn, NL-5600 MB Eindhoven, Netherlands
[2] TNO Tech Sci, Optomechatron Dept, NL-2628 CK Delft, Netherlands
[3] Delft Univ Technol, Delft Ctr Syst & Control, NL-2628 CD Delft, Netherlands
来源：
IEEE TRANSACTIONS ON CONTROL SYSTEMS TECHNOLOGY | 2023年 / 31卷 / 01期
关键词：
Substrates; Time-domain analysis; Task analysis; Belts; Position measurement; Gaussian processes; Stability analysis; Gaussian processes (GPs); repetitive control (RC); spatial disturbances; DESIGN; PERFORMANCE; REJECTION; TRACKING; SIGNALS;
D O I：
10.1109/TCST.2022.3177000
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
Repetitive control (RC) can perfectly attenuate disturbances that are periodic in the time domain. The aim of this article is to develop an RC approach that compensates for disturbances that are time-domain nonperiodic but are repeating in the position domain. The developed position-domain buffer consists of a Gaussian process (GP), which is learned using appropriate dynamic filters and nonequidistant data. This approach estimates position-domain disturbances resulting in perfect compensation. The method is successfully applied to a substrate carrier system, demonstrating performance robustness against time-domain nonperiodic disturbances that are amplified by traditional RC.
引用
收藏
页码：344 / 358
页数：15
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