Exponentially Stable Projector-Based Control of Lagrangian Systems With Gaussian Processes

• 成果类型: Article
• 署名作者: Evangelisti, Giulio; Santina, Cosimo Della; Hirche, Sandra
• 署名单位: Technical University of Munich; Technical University of Munich; Delft University of Technology
• 刊物名称: IEEE TRANSACTIONS ON AUTOMATIC CONTROL
• ISSN/ISSBN: 0018-9286
• DOI: 10.1109/TAC.2026.3662545
• 发表日期: 2026
• 关键词: ROBOT TRAJECTORY TRACKING; Contraction analysis

摘要

Designing accurate yet reliable tracking controllers with tight performance guarantees for Lagrangian systems is challenging due to nonlinear modeling uncertainties and conservative stability criteria. This article proposes a structure-preserving projector-based tracking control law for uncertain Euler-Lagrange systems using physically consistent Lagrangian-Gaussian processes (L-GPs). We leverage the uncertainty quantification of the L-GP for adaptive feedforward-feedback balancing. In particular, an accurate probabilistic guarantee for exponential stability is derived by leveraging matrix analysis results and ideas from contraction analysis, where the benefit of the proposed controller is proven and shown in the closed-form expressions for convergence rate and radius. Extensive numerical simulations not only demonstrate the controller's efficacy based on a two-link and a soft robotic manipulator, but also all theoretical results are explicitly analyzed and validated.