2 papers
eess.SY2024
Exponentially Stable Projector-based Control of Lagrangian Systems with Gaussian Processes
Giulio Evangelisti, Cosimo Della Santina, Sandra Hirche
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative…
eess.SY2024
Physically Consistent Modeling & Identification of Nonlinear Friction with Dissipative Gaussian Processes
Rui Dai, Giulio Evangelisti, Sandra Hirche
Friction modeling has always been a challenging problem due to the complexity of real physical systems. Although a few state-of-the-art structured data-driven methods show their ef…