Gaussian Process Repetitive Control for Suppressing Spatial Disturbances

Mooren, Noud; Witvoet, Gert; Oomen, Tom

doi:10.1016/j.ifacol.2020.12.1939

Cited by 13 publications

(7 citation statements)

References 19 publications

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“…Second, it remains to show that (25) satisfies Lemma 1 for some γ 1 γ 2 < 1. Note that H 2 corresponds to the mapping y d → f RC , which is linear; thus, the signal norm bound (24) is satisfied if…”

Section: B Stability Analysismentioning

confidence: 99%

“…This includes the following subcontributions: C1) developing a novel continuous spatial disturbance model and efficiently utilizing nonequidistant observations in combination with suitable prior knowledge based on GPs; C2) implementation of the GP-based disturbance model in a memory loop for spatial RC, including stability analysis, learning filter design, and prior selection; C3) a computationally efficient implementation of the GP-based spatial memory loop; C4) a simulation case study, with full GP, sparse GP, and traditional RC; C5) experimental validation on a substrate carrier system. Preliminary results are presented in [24]. Extensions in this article are: 1) an improved spatial buffer design; 2) stability analysis; 3) an efficient implementation of the disturbance model using a sparse GP; and 4) experimental validation confirming the benefits of the method.…”

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confidence: 95%

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

Mooren

Witvoet

Oomen

2023

IEEE Trans. Contr. Syst. Technol.

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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.

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Section: B Stability Analysismentioning

confidence: 99%

mentioning

confidence: 95%

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

Mooren

Witvoet

Oomen

2023

IEEE Trans. Contr. Syst. Technol.

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“…However, the RC control has poor dynamic performance when using a single RC due to the delay link in the internal model. 27 – 29 Guo et al 30 utilized a current controller which combined repetitive controller with PI controller, the proposed method can eliminate the effects of harmonics and reduce the net current harmonics. Zhang et al 31 utilized the control strategy of parallel connecting RC control and PI, in which the RC control was used to suppress harmonics in the system and the PI control was used to realize fast dynamic performance.…”

Section: Introductionmentioning

confidence: 99%

Research on the control strategy of LCL grid-connected inverters based on improved auto disturbance rejection

Han,

Xu,

Kang

et al. 2023

Science Progress

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The grid-connected inverter is the key to ensure stable, reliable, safe, and efficient operation of the power generation system; the quality of the grid-connected output current waveform directly affects the performance of the entire power generation system. To improve the anti-interference performance and reduce the output current harmonic content of the grid-connected inverter, an improved control strategy that combined repetitive control (RC) and auto disturbance rejection control (ADRC) is designed in this paper. Firstly, decoupled the ADRC to realize the individual adaptation between tracking performance parameters and anti-interference performance parameters of the controller, through which the difficulty of adjusting parameters is reduced. Secondly, the control approach is devised by adding RC to ADRC. To demonstrate the effectiveness of the proposed method in this paper, detailed experimental studies are conducted using proportional integral control, traditional ADRC, and the proposed method under normal power grids, weak power grids, and periodic disturbances. And dynamic performance simulation experiment is done to verify the dynamic performance of the self-disturbance rejection controller before and after the addition of RC links. The results indicated the effectiveness and feasibility of the proposed method. Finally, after simulation, the steady state and dynamic performance are conducted on a hardware testing platform. The impacts of the obtained results indicate the effectiveness and feasibility of the control algorithm proposed, the ability to suppress intermediate frequency disturbances is improved, the bandwidth of the auto disturbance rejection controller is expanded, and the harmonic content of the output current is depressed.

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“…Although recent progress is made to enable asymptotic rejection of repeating disturbances, a unified framework that systematically integrates multiple domains is not yet available. Recent developments in RC utilize a Gaussian process (GP) based internal model to construct spatial [19] and temporal models [20]. These developments and the flexibility of GPs enables to systematically design multi-dimensional GPbased internal models for suppression of multi-dimensional disturbances in RC which is the aim of this paper.…”

Section: Introductionmentioning

confidence: 99%

A Gaussian Process Approach to Multiple Internal Models in Repetitive Control

Mooren

Witvoet

Oomen

2022

2022 IEEE 17th International Conference on Advanced Motion Control (AMC)

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Gaussian Process Repetitive Control for Suppressing Spatial Disturbances

Cited by 13 publications

References 19 publications

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

Research on the control strategy of LCL grid-connected inverters based on improved auto disturbance rejection

A Gaussian Process Approach to Multiple Internal Models in Repetitive Control

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