期刊
2019 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS (ICM)
卷 -, 期 -, 页码 449-454出版社
IEEE
DOI: 10.1109/icmech.2019.8722853
关键词
Gaussian Process; Inverse dynamics model; Data-based controller design; Disturbance observer
资金
- Korea government through the National Research Foundation [NRF-2016R1A2B4016163]
- Ministry of Trade, Industry Energy [10080547]
Model-based controller design has been widely utilized for various purposes, and many methodologies have been proposed to identify accurate models of the target plants. In this paper, a different methodology to design dynamics model, particularly inverse dynamics model is proposed using Gaussian process. The design process and selection of training input pattern for inverse dynamics learning Gaussian process are analyzed in this paper. The simulation results reveal the potential and limitation of the proposed Gaussian process based inverse dynamics learning.
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