Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models
| Autor: | DALLA LIBERA, Alberto, Amadio, Fabio, Daniel, Nikovski, Carli, Ruggero, Diego, Romeres |
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| Jazyk: | angličtina |
| Rok vydání: | 2021 |
| Předmět: |
FOS: Computer and information sciences
Computer Science - Robotics Robotics System identification Feedback linearization Gaussian processes FOS: Electrical engineering electronic engineering information engineering Feedback linearization Gaussian processes Robotics Systems and Control (eess.SY) System identification Robotics (cs.RO) Electrical Engineering and Systems Science - Systems and Control |
| Popis: | In this paper, we consider the use of black-box Gaussian process (GP) models for trajectory tracking control based on feedback linearization, in the context of mechanical systems. We considered two strategies. The first computes the control input directly by using the GP model, whereas the second computes the input after estimating the individual components of the dynamics. We tested the two strategies on a simulated manipulator with seven degrees of freedom, also varying the GP kernel choice. Results show that the second implementation is more robust w.r.t. the kernel choice and model inaccuracies. Moreover, as regards the choice of kernel, the obtained performance shows that the use of a structured kernel, such as a polynomial kernel, is advantageous, because of its effectiveness with both strategies. |
| Databáze: | OpenAIRE |
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