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.

中文翻译：

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抑制空间扰动的高斯过程重复控制

运动系统通常会受到干扰，例如齿槽效应、换向误差和不平衡，这些干扰随速度变化，并且在运行速度恒定的情况下在时间上出现周期性。本文的目的是开发一种重复控制器 (RC)，用于在时域中不是周期性的、但由于相同的位置域干扰而发生的干扰。开发了一个新的空间 RC 框架，允许衰减在位置域中周期性但在时域中表现出非周期性的扰动。基于高斯过程 (GP) 的存储器与合适的周期性内核一起使用，可以有效地处理位置域固有的间歇性观察。机电一体化示例证实了该方法的潜力。