{"id":"https://openalex.org/W3215831676","doi":"https://doi.org/10.1109/cdc45484.2021.9683541","title":"Learning-Based Repetitive Precision Motion Control with Mismatch Compensation","display_name":"Learning-Based Repetitive Precision Motion Control with Mismatch Compensation","publication_year":2021,"publication_date":"2021-12-14","ids":{"openalex":"https://openalex.org/W3215831676","doi":"https://doi.org/10.1109/cdc45484.2021.9683541","mag":"3215831676"},"language":"en","primary_location":{"id":"doi:10.1109/cdc45484.2021.9683541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683541","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":false,"oa_status":"closed","oa_url":null,"any_repository_has_fulltext":false},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5021120581","display_name":"Efe C. Balta","orcid":"https://orcid.org/0000-0001-8596-8739"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Efe C. Balta","raw_affiliation_strings":["ETH Zurich,Automatic Control Laboratory,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Automatic Control Laboratory,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5084847741","display_name":"Kira Barton","orcid":"https://orcid.org/0000-0003-1047-8078"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Kira Barton","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5025730901","display_name":"Dawn M. Tilbury","orcid":"https://orcid.org/0000-0002-2510-0556"},"institutions":[{"id":"https://openalex.org/I27837315","display_name":"University of Michigan","ror":"https://ror.org/00jmfr291","country_code":"US","type":"education","lineage":["https://openalex.org/I27837315"]}],"countries":["US"],"is_corresponding":false,"raw_author_name":"Dawn M. Tilbury","raw_affiliation_strings":["University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"University of Michigan,Department of Mechanical Engineering,Ann Arbor,MI,USA,48109","institution_ids":["https://openalex.org/I27837315"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5058099719","display_name":"Alisa Rupenyan","orcid":"https://orcid.org/0000-0002-2170-8564"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]},{"id":"https://openalex.org/I4210123353","display_name":"Inspire","ror":"https://ror.org/02sy45055","country_code":"CH","type":"company","lineage":["https://openalex.org/I4210123353"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"Alisa Rupenyan","raw_affiliation_strings":["ETH Zurich,Automatic Control Laboratory,Zurich,Switzerland,8092","Inspire AG, Zurich, Switzerland"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Automatic Control Laboratory,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]},{"raw_affiliation_string":"Inspire AG, Zurich, Switzerland","institution_ids":["https://openalex.org/I4210123353"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5007359599","display_name":"John Lygeros","orcid":"https://orcid.org/0000-0002-6159-1962"},"institutions":[{"id":"https://openalex.org/I35440088","display_name":"ETH Zurich","ror":"https://ror.org/05a28rw58","country_code":"CH","type":"education","lineage":["https://openalex.org/I2799323385","https://openalex.org/I35440088"]}],"countries":["CH"],"is_corresponding":false,"raw_author_name":"John Lygeros","raw_affiliation_strings":["ETH Zurich,Automatic Control Laboratory,Zurich,Switzerland,8092"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"ETH Zurich,Automatic Control Laboratory,Zurich,Switzerland,8092","institution_ids":["https://openalex.org/I35440088"]}]}],"institutions":[],"countries_distinct_count":2,"institutions_distinct_count":3,"corresponding_author_ids":[],"corresponding_institution_ids":[],"apc_list":null,"apc_paid":null,"fwci":null,"has_fulltext":false,"cited_by_count":9,"citation_normalized_percentile":null,"cited_by_percentile_year":null,"biblio":{"volume":null,"issue":null,"first_page":"3605","last_page":"3610"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T11749","display_name":"Iterative Learning Control Systems","score":0.9998000264167786,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10791","display_name":"Advanced Control Systems Optimization","score":0.9847000241279602,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10531","display_name":"Advanced Vision and Imaging","score":0.9735000133514404,"subfield":{"id":"https://openalex.org/subfields/1707","display_name":"Computer Vision and Pattern Recognition"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/iterative-learning-control","display_name":"Iterative learning control","score":0.8136680722236633},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.7819733619689941},{"id":"https://openalex.org/keywords/process","display_name":"Process (computing)","score":0.635064423084259},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.6146020889282227},{"id":"https://openalex.org/keywords/convergence","display_name":"Convergence (economics)","score":0.6001579165458679},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5727179050445557},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5668813586235046},{"id":"https://openalex.org/keywords/kriging","display_name":"Kriging","score":0.5592502951622009},{"id":"https://openalex.org/keywords/tracking-error","display_name":"Tracking error","score":0.550638735294342},{"id":"https://openalex.org/keywords/motion-control","display_name":"Motion control","score":0.502399206161499},{"id":"https://openalex.org/keywords/compensation","display_name":"Compensation (psychology)","score":0.4920729994773865},{"id":"https://openalex.org/keywords/tracking","display_name":"Tracking (education)","score":0.4834959805011749},{"id":"https://openalex.org/keywords/repetitive-control","display_name":"Repetitive control","score":0.4263703525066376},{"id":"https://openalex.org/keywords/process-control","display_name":"Process control","score":0.4247293472290039},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.3776041269302368},{"id":"https://openalex.org/keywords/control-engineering","display_name":"Control engineering","score":0.35143715143203735},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.33431094884872437},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.3167443871498108},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.26701322197914124},{"id":"https://openalex.org/keywords/control-system","display_name":"Control system","score":0.25046515464782715},{"id":"https://openalex.org/keywords/engineering","display_name":"Engineering","score":0.12684443593025208},{"id":"https://openalex.org/keywords/robot","display_name":"Robot","score":0.08924451470375061}],"concepts":[{"id":"https://openalex.org/C117619785","wikidata":"https://www.wikidata.org/wiki/Q6094414","display_name":"Iterative learning control","level":3,"score":0.8136680722236633},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.7819733619689941},{"id":"https://openalex.org/C98045186","wikidata":"https://www.wikidata.org/wiki/Q205663","display_name":"Process (computing)","level":2,"score":0.635064423084259},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.6146020889282227},{"id":"https://openalex.org/C2777303404","wikidata":"https://www.wikidata.org/wiki/Q759757","display_name":"Convergence (economics)","level":2,"score":0.6001579165458679},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5727179050445557},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5668813586235046},{"id":"https://openalex.org/C81692654","wikidata":"https://www.wikidata.org/wiki/Q225926","display_name":"Kriging","level":2,"score":0.5592502951622009},{"id":"https://openalex.org/C183356978","wikidata":"https://www.wikidata.org/wiki/Q1779213","display_name":"Tracking error","level":3,"score":0.550638735294342},{"id":"https://openalex.org/C145565327","wikidata":"https://www.wikidata.org/wiki/Q852514","display_name":"Motion control","level":3,"score":0.502399206161499},{"id":"https://openalex.org/C2780023022","wikidata":"https://www.wikidata.org/wiki/Q1338171","display_name":"Compensation (psychology)","level":2,"score":0.4920729994773865},{"id":"https://openalex.org/C2775936607","wikidata":"https://www.wikidata.org/wiki/Q466845","display_name":"Tracking (education)","level":2,"score":0.4834959805011749},{"id":"https://openalex.org/C2780842517","wikidata":"https://www.wikidata.org/wiki/Q7314001","display_name":"Repetitive control","level":3,"score":0.4263703525066376},{"id":"https://openalex.org/C155386361","wikidata":"https://www.wikidata.org/wiki/Q1649571","display_name":"Process control","level":3,"score":0.4247293472290039},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.3776041269302368},{"id":"https://openalex.org/C133731056","wikidata":"https://www.wikidata.org/wiki/Q4917288","display_name":"Control engineering","level":1,"score":0.35143715143203735},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.33431094884872437},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.3167443871498108},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.26701322197914124},{"id":"https://openalex.org/C17500928","wikidata":"https://www.wikidata.org/wiki/Q959968","display_name":"Control system","level":2,"score":0.25046515464782715},{"id":"https://openalex.org/C127413603","wikidata":"https://www.wikidata.org/wiki/Q11023","display_name":"Engineering","level":0,"score":0.12684443593025208},{"id":"https://openalex.org/C90509273","wikidata":"https://www.wikidata.org/wiki/Q11012","display_name":"Robot","level":2,"score":0.08924451470375061},{"id":"https://openalex.org/C19417346","wikidata":"https://www.wikidata.org/wiki/Q7922","display_name":"Pedagogy","level":1,"score":0.0},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C11171543","wikidata":"https://www.wikidata.org/wiki/Q41630","display_name":"Psychoanalysis","level":1,"score":0.0},{"id":"https://openalex.org/C119599485","wikidata":"https://www.wikidata.org/wiki/Q43035","display_name":"Electrical engineering","level":1,"score":0.0},{"id":"https://openalex.org/C162324750","wikidata":"https://www.wikidata.org/wiki/Q8134","display_name":"Economics","level":0,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C50522688","wikidata":"https://www.wikidata.org/wiki/Q189833","display_name":"Economic growth","level":1,"score":0.0},{"id":"https://openalex.org/C15744967","wikidata":"https://www.wikidata.org/wiki/Q9418","display_name":"Psychology","level":0,"score":0.0},{"id":"https://openalex.org/C111919701","wikidata":"https://www.wikidata.org/wiki/Q9135","display_name":"Operating system","level":1,"score":0.0}],"mesh":[],"locations_count":1,"locations":[{"id":"doi:10.1109/cdc45484.2021.9683541","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc45484.2021.9683541","pdf_url":null,"source":{"id":"https://openalex.org/S4363607724","display_name":"2021 60th IEEE Conference on Decision and Control (CDC)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":null,"host_organization_name":null,"host_organization_lineage":[],"host_organization_lineage_names":[],"type":"conference"},"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2021 60th IEEE Conference on Decision and Control (CDC)","raw_type":"proceedings-article"}],"best_oa_location":null,"sustainable_development_goals":[],"awards":[{"id":"https://openalex.org/G4948557816","display_name":"CPS: TTP Option: Frontiers:  Collaborative Research: Software Defined Control  for Smart Manufacturing Systems","funder_award_id":"1544678","funder_id":"https://openalex.org/F4320306076","funder_display_name":"National Science Foundation"}],"funders":[{"id":"https://openalex.org/F4320306076","display_name":"National Science Foundation","ror":"https://ror.org/021nxhr62"},{"id":"https://openalex.org/F4320320924","display_name":"Schweizerischer Nationalfonds zur F\u00f6rderung der Wissenschaftlichen Forschung","ror":"https://ror.org/00yjd3n13"}],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W1968908471","https://openalex.org/W1972398801","https://openalex.org/W1989099401","https://openalex.org/W2001296785","https://openalex.org/W2009370490","https://openalex.org/W2015982707","https://openalex.org/W2026124552","https://openalex.org/W2143346970","https://openalex.org/W2619551236","https://openalex.org/W2739703652","https://openalex.org/W2791892332","https://openalex.org/W2807198100","https://openalex.org/W2808816909","https://openalex.org/W2943673811","https://openalex.org/W3000389291","https://openalex.org/W3012486745","https://openalex.org/W3033236354","https://openalex.org/W3105252106","https://openalex.org/W3119021481","https://openalex.org/W3139636814"],"related_works":["https://openalex.org/W1581010919","https://openalex.org/W1557010079","https://openalex.org/W2406853181","https://openalex.org/W2379960361","https://openalex.org/W2133373519","https://openalex.org/W2047374070","https://openalex.org/W2478562663","https://openalex.org/W1985604192","https://openalex.org/W2967787888","https://openalex.org/W2104608934"],"abstract_inverted_index":{"Learning-based":[0],"control":[1,57,91],"methods":[2],"utilize":[3],"run-time":[4],"data":[5,96],"from":[6],"the":[7,12,29,36,40,60,79,83,94,104,119],"underlying":[8],"process":[9,41,80],"to":[10,33,63,102],"improve":[11,103],"controller":[13,121],"performance":[14,105,136],"under":[15],"model":[16,77],"mismatch":[17,84],"and":[18,35,81,93,127,139],"unmodeled":[19],"disturbances.":[20],"This":[21],"is":[22,62],"beneficial":[23],"for":[24,53,122],"optimizing":[25],"industrial":[26],"processes,":[27],"where":[28,59,131],"dynamics":[30],"are":[31,97],"difficult":[32],"model,":[34],"repetitive":[37,54],"nature":[38],"of":[39,78,118],"can":[42],"be":[43],"exploited.":[44],"In":[45],"this":[46],"work,":[47],"we":[48,132],"develop":[49],"an":[50],"iterative":[51],"approach":[52],"precision":[55],"motion":[56],"problems":[58],"objective":[61],"follow":[64],"a":[65,75,107,112,128],"reference":[66],"geometry":[67],"with":[68,137],"minimal":[69],"tracking":[70,135],"error.":[71],"Our":[72],"method":[73],"utilizes":[74],"nominal":[76],"learns":[82],"using":[85],"Gaussian":[86],"Process":[87],"Regression":[88],"(GPR).":[89],"The":[90],"input":[92],"GPR":[95],"updated":[98],"after":[99],"each":[100],"iteration":[101],"in":[106],"run-to-run":[108],"fashion.":[109],"We":[110],"provide":[111],"preliminary":[113],"convergence":[114],"analysis,":[115],"implementation":[116],"details":[117],"proposed":[120],"minimizing":[123],"different":[124],"error":[125],"types,":[126],"case":[129],"study":[130],"demonstrate":[133],"improved":[134],"simulation":[138],"experimental":[140],"results.":[141]},"counts_by_year":[{"year":2025,"cited_by_count":4},{"year":2024,"cited_by_count":2},{"year":2023,"cited_by_count":2},{"year":2021,"cited_by_count":1}],"updated_date":"2026-07-14T23:27:15.235271","created_date":"2025-10-10T00:00:00"}