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

Noud Mooren; Gert Witvoet; Tom Oomen

doi:10.1109/TCST.2022.3177000

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

Team Jan-Willem van Wingerden

Research output: Contribution to journal › Article › Scientific › peer-review

3 Citations (Scopus)

37 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 language	English
Pages (from-to)	344-358
Journal	IEEE Transactions on Control Systems Technology
Volume	31
Issue number	1
DOIs	https://doi.org/10.1109/TCST.2022.3177000
Publication status	Published - 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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Gaussian_Process_Repetitive_Control_With_Application_to_an_Industrial_Substrate_Carrier_System_With_Spatial_DisturbancesFinal published version, 3.05 MB

Cite this

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

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