Estimation of Multi-state Dependent Disturbance by Using Multi-dimensional Gaussian Process

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 dist...

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Bibliographic Details
Published in2024 IEEE 33rd International Symposium on Industrial Electronics (ISIE) pp. 1 - 4
Main Authors Yeo, Hoyeong, Jung, Hanul, Oh, Sehoon
Format Conference Proceeding
LanguageEnglish
Published IEEE 18.06.2024
Subjects
Accuracy
Analytical models
Estimation
Force
Forging
Friction
Industrial electronics
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Summary: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 removed effectively. 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 estimation performance of proposed algorithm through simulation.
ISSN:2163-5145
DOI:10.1109/ISIE54533.2024.10595827