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

Noud Mooren*, Gert Witvoet, Tom Oomen

*Corresponding author for this work

Research output: Contribution to journalArticleScientificpeer-review

3 Citations (Scopus)
41 Downloads (Pure)

Abstract

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.

Original languageEnglish
Pages (from-to)344-358
JournalIEEE Transactions on Control Systems Technology
Volume31
Issue number1
DOIs
Publication statusPublished - 2023

Bibliographical note

Green Open Access added to TU Delft Institutional Repository 'You share, we take care!' - Taverne project https://www.openaccess.nl/en/you-share-we-take-care
Otherwise as indicated in the copyright section: the publisher is the copyright holder of this work and the author uses the Dutch legislation to make this work public.

Keywords

  • Gaussian processes (GPs)
  • repetitive control (RC)
  • spatial disturbances

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