Provably Robust Learning-Based Approach for High-Accuracy Tracking
Control of Lagrangian Systems

v1v2 (latest)

Provably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian Systems

3 April 2018

Angela P. Schoellig

ArXiv (abs)PDF HTML

Papers citing "Provably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian Systems"

19 / 19 papers shown

Title
Guiding Reinforcement Learning with Incomplete System Dynamics Shuyuan Wang Jingliang Duan Nathan P. Lawrence Philip D. Loewen M. Forbes R. Bhushan Gopaluni Lixian Zhang 100 1 0 22 Oct 2024
On Safety in Safe Bayesian Optimization Christian Fiedler Johanna Menn Lukas Kreisköther Sebastian Trimpe 79 11 0 19 Mar 2024
Gaussian Process-Based Learning Control of Underactuated Balance Robots with an External and Internal Convertible Modeling Structure Feng Han Jingang Yi 59 1 0 15 Dec 2023
Gaussian Process-Enhanced, External and Internal Convertible (EIC) Form-Based Control of Underactuated Balance Robots Feng Han Jingang Yi 47 2 0 27 Sep 2023
Episodic Gaussian Process-Based Learning Control with Vanishing Tracking Errors Armin Lederer Jonas Umlauft Sandra Hirche 76 0 0 10 Jul 2023
Robust Direct Data-Driven Control for Probabilistic Systems Alexander von Rohr Dmitrii Likhachev Sebastian Trimpe 22 0 0 29 Jun 2023
Learning-based Predictive Path Following Control for Nonlinear Systems Under Uncertain Disturbances Ruicong Yang Lei Zheng Jiesen Pan Hui Cheng 51 39 0 26 Dec 2022
Formal Verification of Unknown Dynamical Systems via Gaussian Process Regression John Jackson Luca Laurenti Eric Frew Morteza Lahijanian 66 16 0 31 Dec 2021
Learning Provably Robust Motion Planners Using Funnel Libraries Alim Gurgen Anirudha Majumdar Sushant Veer OOD 64 2 0 16 Nov 2021
Personalized Rehabilitation Robotics based on Online Learning Control Samuel Tesfazgi Armin Lederer Johannes F. Kunz Alejandro Jose Ordóñez Conejo Sandra Hirche 42 2 0 01 Oct 2021
Safe Learning in Robotics: From Learning-Based Control to Safe Reinforcement Learning Lukas Brunke Melissa Greeff Adam W. Hall Zhaocong Yuan Siqi Zhou Jacopo Panerati Angela P. Schoellig OffRL 68 636 0 13 Aug 2021
Learning-enhanced robust controller synthesis with rigorous statistical and control-theoretic guarantees Christian Fiedler C. Scherer Sebastian Trimpe 55 15 0 07 May 2021
Practical and Rigorous Uncertainty Bounds for Gaussian Process Regression Christian Fiedler C. Scherer Sebastian Trimpe GP 77 71 0 06 May 2021
Uniform Error and Posterior Variance Bounds for Gaussian Process Regression with Application to Safe Control Armin Lederer Jonas Umlauft Sandra Hirche 68 20 0 13 Jan 2021
Gaussian Processes Model-based Control of Underactuated Balance Robots Kuo Chen J. Yi Dezhen Song 61 19 0 29 Oct 2020
Online learning-based trajectory tracking for underactuated vehicles with uncertain dynamics Thomas Beckers L. Colombo Sandra Hirche George J. Pappas 19 6 0 14 Sep 2020
$Contraction $\mathcal{L}_1$-Adaptive Control using Gaussian Processes$ Contraction $\mathcal{L}_1$ -Adaptive Control using Gaussian Processes Aditya Gahlawat Arun Lakshmanan Lin Song Andrew Patterson Zhuohuan Wu N. Hovakimyan Evangelos Theodorou AI4CE 46 1 0 08 Sep 2020
Learning dynamics for improving control of overactuated flying systems Weixuan Zhang Maximilian Brunner Lionel Ott Mina Kamel Roland Siegwart Juan I. Nieto 40 12 0 23 Jun 2020
Posterior Variance Analysis of Gaussian Processes with Application to Average Learning Curves Armin Lederer Jonas Umlauft Sandra Hirche 70 25 0 04 Jun 2019