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

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

Mooren, Noud (Eindhoven University of Technology)
Witvoet, Gert (Eindhoven University of Technology; TNO)
Oomen, T.A.E. (TU Delft Team Jan-Willem van Wingerden; Eindhoven University of Technology)

2023

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.

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

http://resolver.tudelft.nl/uuid:f86e9626-1405-4b0e-bde7-15de1b3f9f5b

https://doi.org/10.1109/TCST.2022.3177000

2023-02-02

1063-6536

IEEE Transactions on Control Systems Technology, 31 (1), 344-358

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.

Institutional Repository

journal article

© 2023 Noud Mooren, Gert Witvoet, T.A.E. Oomen