Non-Gaussian Uncertainty Minimization Based Control of Stochastic Nonlinear Robotic Systems
Weiqiao Han,Ashkan Jasour,Brian Williams,Weiqiao Han,Ashkan Jasour,Brian Williams
In this paper, we consider the closed-loop control problem of nonlinear robotic systems in the presence of probabilistic uncertainties and disturbances. More precisely, we design a state feedback controller that minimizes deviations of the states of the system from the nominal state trajectories due to uncertainties and disturbances. Existing approaches to address the control problem of probabilis...
