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Conference item

Bayesian nonparametrics and feedback-linearisation of discretised control-affine systems

Abstract:

We propose random field system identification and inversion control (RF-SIIC) as a method for simultaneous probabilistic identification and control of time-discretised control-affine systems. Identification is achieved by conditioning random field priors on observations of configurations and noisy estimates of configuration derivatives. In contrast to previous work that has utilised random fields for identification, we leverage the structural knowledge afforded by Lagrangian mechanics and lea...

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Publication status:
Published
Peer review status:
Peer reviewed

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Files:
  • (Accepted manuscript, pdf, 277.5KB)
Publisher copy:
10.1109/CDC.2018.8619451

Authors


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Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Department:
Oxford, MPLS, Engineering Science, Oxford-Man Institute
Role:
Author
ORCID:
0000-0002-9003-6642
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Oxford college:
Worcester College
Role:
Author
ORCID:
0000-0002-3565-8967
More by this author
Institution:
University of Oxford
Division:
MPLS Division
Department:
Engineering Science
Role:
Author
Publisher:
Institute of Electrical and Electronics Engineers
Host title:
2018 IEEE Conference on Decision and Control (CDC)
Journal:
2018 IEEE Conference on Decision and Control (CDC) More from this journal
Pages:
6086-6093
Publication date:
2019-01-21
Acceptance date:
2018-07-13
DOI:
ISSN:
0743-1546
ISBN:
9781538613955
Keywords:
Pubs id:
pubs:977039
UUID:
uuid:c8c68c69-8c1b-4919-954c-c4c92fc1ce87
Local pid:
pubs:977039
Source identifiers:
977039
Deposit date:
2019-03-25

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