Gaussian Process Model Predictive Control of Unknown Nonlinear Systems


MPC of an unknown system that is modelled by GP techniques is studied in this paper. Using GP, the variances computed during the modelling and inference processes allow us to take model uncertainty into account. The main issue in using MPC to control systems modelled by GP is the propagation of such uncertainties within the control horizon. In this paper… (More)


5 Figures and Tables