Control of Mechanical Systems via Feedback Linearization Based on Black-Box Gaussian Process Models

In this paper, we consider the use of black-box Gaussian process (GP) models for trajectory tracking control based on feedback linearization, in the context of mechanical systems. We considered two strategies. The first computes the control input directly by using the GP model, whereas the second computes the input after estimating the individual components of the dynamics. We tested the two strategies on a simulated manipulator with seven degrees of freedom, also varying the GP kernel choice. Results show that the second implementation is more robust w.r.t. the kernel choice and model inaccuracies. Moreover, as regards the choice of kernel, the obtained performance shows that the use of a structured kernel, such as a polynomial kernel, is advantageous, because of its effectiveness with both strategies.