Stochastic processes and feedback-linearisation for online identification and Bayesian adaptive control of fully-actuated mechanical systems
This work proposes a new method for simultaneous probabilistic identification and control of an observable, fully-actuated mechanical system. Identification is achieved by conditioning stochastic process priors on observations of configurations and noisy estimates of configuration derivatives. In co...
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| Aineistotyyppi: | Journal article |
| Julkaistu: |
2013
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