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...

Full description

Bibliographic Details
Main Authors: Calliess, J, Papachristodoulou, A, Roberts, S
Format: Journal article
Published: 2013

Similar Items