Stochastic processes and feedback-linearisation for online
identification and Bayesian adaptive control of fully-actuated mechanical
systems

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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Bibliografiske detaljer
Main Authors:	Calliess, J, Papachristodoulou, A, Roberts, S
Format:	Journal article
Udgivet:	2013

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