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Conference Paper
Multi-dimensional Gaussian Process-based Control for Compensation of Multi-state Dependent Disturbance
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- Authors
- Hoyeong Yeo, Hanul Jung, Sehoon Oh
- Issue Date
- 2024-07
- Citation
- International Conference on Advanced Intelligent Mechatronics (AIM) 2024, pp.1392-1397
- Language
- English
- Type
- Conference Paper
- Abstract
- High-precision linear motor stages have been widely used for their excellent positioning accuracy and speed. However, core-type linear motor stages have performance limitations because of various nonlinear factors including cogging force, friction, and geometrical imbalance. This paper analyzes disturbances in velocity and position domains and trains a Two-Input-Single-Output (TISO) nonlinear model using the Gaussian process for the disturbance. With this, two state-dependent disturbances are appropriately removed. As a result, the control performance with a proposed controller is enhanced. Ultimately, this paper introduces three contribution points: 1) analysis of disturbances based on position/velocity, 2) design of TISO Gaussian process model, and 3) validation of proposed controller performance through simulation.
- KSP Keywords
- Cogging force, Control performance, Controller performance, Core-type, Gaussian Process(GP), Gaussian process model, Multi-state, Nonlinear model, Performance limitations, Positioning accuracy, Precision linear motor