论文标题
高斯过程重复控制以抑制空间扰动
Gaussian Process Repetitive Control for Suppressing Spatial Disturbances
论文作者
论文摘要
运动系统通常会受到诸如齿轮，换向错误和失衡等干扰，这些干扰随着速度而变化，并且在恒定的工作速度时显得周期性。本文的目的是开发一个重复控制器（RC），以使其在时域不周期性的干扰，但由于位置障碍的相同而发生。开发了一个新的空间RC框架，可以减弱在位置域周期性但在时域中表现出A-周期性的干扰。基于高斯的过程（GP）的内存使用合适的周期内核，可以有效地处理位置域固有的间歇性观测值。一个机制示例证实了该方法的潜力。
Motion systems are often subject to disturbances such as cogging, commutation errors, and imbalances, that vary with velocity and appear periodic in time for constant operating velocities. The aim of this paper is to develop a repetitive controller (RC) for disturbances that are not periodic in the time domain, yet occur due to an identical position-domain disturbance. A new spatial RC framework is developed, allowing to attenuate disturbances that are periodic in the position domain but manifest a-periodic in the time domain. A Gaussian process (GP) based memory is employed with a suitable periodic kernel that can effectively deal with the intermittent observations inherent to the position domain. A mechatronic example confirms the potential of the method.
