Adaptive, Cautious, Predictive Control with Gaussian Process Priors
نویسندگان
چکیده
Nonparametric Gaussian Process models, a Bayesian statistics approach, are used to implement a nonlinear adaptive control law. Predictions, including propagation of the state uncertainty are made over a k-step horizon. The expected value of a quadratic cost function is minimised, over this prediction horizon, without ignoring the variance of the model predictions. The general method and its main features are illustrated on a simulation example. Copyright c ©2003 IFAC
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