Lunch Lecture April hosted by Sioux
Spatial Gaussian process repetitive control for suppressing spatial disturbances in an industrial substrate carrier.
Repetitive control (RC) can perfectly attenuate time-domain periodic disturbances. In practice, disturbances are often position-domain periodic, e.g., cogging in a motor or an eccentric roller that rotates with a varying velocity, see Figure 1. Traditional RC cannot compensate for these disturbances and may even amplify them.
| Figure 1 Example of an eccentric roller that can generate a spatially periodic disturbance. | Figure 2 Generic substrate carrier and experimental setup. |
A spatial RC approach is developed that compensates for disturbances that are spatially periodic. A non-parametric position-domain buffer consisting of a Gaussian Process (GP) is employed in RC, see Figure 3. The method is successfully applied to a substrate carrier system (Figure 2) where it compensates for roller imperfections that induce spatially periodic disturbances.
Figure 3 Simplified representation of the developed spatial GP RC framework.
The speaker will be: Noud Mooren System Engineer Sioux
This lecture ( only for members of the DSPE) will start at: April 3 on 12:02pm (Teams digital)
Please send an email to info@dspe.nl if you are interested in this Lunch lecture.