Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models

Alberto Dalla Libera,Fabio Amadio,Daniel Nikovski,Ruggero Carli,Diego Romeres

2021 European Control Conference (ECC)（2021）

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摘要

In this paper, we consider the use of black-box Gaussian process (GP) models for trajectory tracking control based on feedback linearization, in the context of mechanical systems. We considered two strategies. The first computes the control input directly by using the GP model, whereas the second computes the input after estimating the individual components of the dynamics. We tested the two strat...

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关键词

Analytical models,Trajectory tracking,Computational modeling,Europe,Gaussian processes,Feedback linearization,Mechanical systems

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