Gaussian Process and Disturbance Observer Based Control for Disturbance Rejection
Authors:
- 18 February 2022
- conference paper
- Published by Institute of Electrical and Electronics Engineers (IEEE)
- p. 94-99
Abstract
This paper proposes Gaussian process and disturbance observer-based (GP and DOB-based) control by stochastic learning of position-based disturbance, where patterned disturbance is effectively eliminated in positions such as the cogging force and ripple. The GP-based control properly removes the disturbance with a deterministic period in the position domain, and the DOB effectively compensates for the unexpected disturbance that is not patterned in the position domain within the designed frequency range. Therefore, GP and DOB-based control achieve the high-end performance of the control system. In addition, the reliability of the Gaussian process model is theoretically verified and simulation results are validated by comparing with conventional DOB-based control and proposed GP and DOB-based control in various disturbance conditions.Keywords
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