A Gaussian-process estimate of model mismatch plus a variance-based robust term gives a feedback-linearizing controller with a probabilistic asymptotic tracking guarantee.
Adaptive robust controller for handling unknown uncertainty of robotic manipulators,
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A Robust Controller based on Gaussian Processes for Robotic Manipulators with Unknown Uncertainty
A Gaussian-process estimate of model mismatch plus a variance-based robust term gives a feedback-linearizing controller with a probabilistic asymptotic tracking guarantee.