21 citations · 69 across the 10 of their papers we have counts for
3 papers · 1 filter
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…
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-…