An iterative planner-controller with Gaussian process error learning lets a Pendubot complete swing-ups and unstable transfers in two or three trials despite large model uncertainty.
Partial stabilization of underactu- ated Euler–Lagrange systems via a class of feedback transformations,
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On-Line Learning for Planning and Control of Underactuated Robots with Uncertain Dynamics
An iterative planner-controller with Gaussian process error learning lets a Pendubot complete swing-ups and unstable transfers in two or three trials despite large model uncertainty.