Model Predictive Controller Design Based on Residual Model Trained by Gaussian Process for Robots
Model mismatch is inevitable in robot control due to the presence of unknown dynamics and unknown perturbations. Traditional model predictive control algorithms are usually based on constant value assumptions and are not able to overcome the degradation of controller performance due to model mismatc...
| Main Authors: | , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-04-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/5/893 |