Exponentially Stable Projector-based Control of Lagrangian Systems with
Gaussian Processes
Exponentially Stable Projector-based Control of Lagrangian Systems with
Gaussian Processes
Designing accurate yet robust tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative stability criteria. This article proposes a structure-preserving projector-based tracking control law for uncertain Euler-Lagrange (EL) systems using physically consistent Lagrangian-Gaussian Processes (L-GPs). We leverage the uncertainty quantification of …