152 citations · 285 across the 20 of their papers we have counts for
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Stable Gaussian Process based Tracking Control of Lagrangian Systems
Thomas Beckers, Jonas Umlauft, Dana Kulić +1
High performance tracking control can only be achieved if a good model of the dynamics is available. However, such a model is often difficult to obtain from first order physics onl…
Stable Model-based Control with Gaussian Process Regression for Robot Manipulators
Thomas Beckers, Jonas Umlauft, Sandra Hirche
Computed-torque control requires a very precise dynamical model of the robot for compensating the manipulator dynamics. This allows reduction of the controller's feedback gains res…
Equilibrium Distributions and Stability Analysis of Gaussian Process State Space Models
Thomas Beckers, Sandra Hirche
Gaussian Process State Space Models (GP-SSM) are a data-driven stochastic model class suitable to represent nonlinear dynamics. They have become increasingly popular in non-paramet…
Gaussian Process based Passivation of a Class of Nonlinear Systems with Unknown Dynamics
Thomas Beckers, Sandra Hirche
The paper addresses the problem of passivation of a class of nonlinear systems where the dynamics are unknown. For this purpose, we use the highly flexible, data-driven Gaussian pr…
Stability of Gaussian Process State Space Models
Thomas Beckers, Sandra Hirche
Gaussian Process State Space Models (GP-SSMs) are a non-parametric model class suitable to represent nonlinear dynamics. They become increasingly popular in data-driven modeling ap…
Mean Square Prediction Error of Misspecified Gaussian Process Models
Thomas Beckers, Jonas Umlauft, Sandra Hirche
Nonparametric modeling approaches show very promising results in the area of system identification and control. A naturally provided model confidence is highly relevant for system-…
Stable Gaussian Process based Tracking Control of Euler-Lagrange Systems
Thomas Beckers, Dana Kulić, Sandra Hirche
Perfect tracking control for real-world Euler-Lagrange systems is challenging due to uncertainties in the system model and external disturbances. The magnitude of the tracking erro…