Nonparametric identification of linearizations and uncertainty using Gaussian process models – application to robust wheel slip control

Hansen, J., Murray-Smith, R. and Johansen, T.A. (2005) Nonparametric identification of linearizations and uncertainty using Gaussian process models – application to robust wheel slip control. In: 44th IEEE Conference on Decision and Control, 2005 and 2005 European Control Conference. CDC-ECC '05., Seville, Spain, 12-15 December 2005, pp. 5083-5088. ISBN 0780395670

Abstract

Gaussian process prior models offer a nonparametric approach to modelling unknown nonlinear systems from experimental data. These are flexible models which automatically adapt their model complexity to the available data, and which give not only mean predictions but also the variance of these predictions. A further advantage is the analytical derivation of derivatives of the model with respect to inputs, with their variance, providing a direct estimate of the locally linearized model with its corresponding parameter variance. We show how this can be used to tune a controller based on the linearized models, taking into account their uncertainty. The approach is applied to a simulated wheel slip control task illustrating controller development based on a nonparametric model of the unknown friction nonlinearity. Local stability and robustness of the controllers are tuned based on the uncertainty of the nonlinear models’ derivatives.

• Item Type: Conference Proceedings
• Status: Published
• Refereed: Yes
• Glasgow Author(s) Enlighten ID: Murray-Smith, Professor Roderick
• Authors: Hansen, J., Murray-Smith, R., and Johansen, T.A.
• Subjects: T Technology > TK Electrical engineering. Electronics Nuclear engineering
• College/School: College of Science and Engineering > School of Computing Science
• Publisher: Institute of Electrical and Electronics Engineers (IEEE)
• ISBN: 0780395670
• Copyright Holders: Copyright © 2005 Institute of Electrical and Electronics Engineers (IEEE)
• First Published: First published in Proceedings of the 44th IEEE Conference on Decision and Control, and the European Control Conference 2005
• Publisher Policy: Reproduced in accordance with the copyright policy of the publisher