Safe Control of Robotic Systems under Nonparametric Uncertainty Using Gaussian Process Regression
2024 INTERNATIONAL CONFERENCE ON ADVANCED ROBOTICS AND MECHATRONICS, ICARM 2024（2024）
关键词
Robotic System,Gaussian Process,Kriging,Nonparametric Uncertainties,Control Strategy,Control Input,Feedback Control,Control Problem,Asymptotically Stable,Quadratic Programming,Obstacle Avoidance,Safety Constraints,System State,Optimal Control,Nonlinear Systems,System Identification,Model Uncertainty,Kernel Function,Control Performance,Online Learning,Barrier Lyapunov Function,Uncertain Terms,Optimal Control Input,Neural Network Control,Safety Systems,Confidence Interval Range,Tracking Error,State Constraints,Learning Control,Input Saturation
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