Statistical Learning of Contractive Dynamical Representations for Composite Adaptive Control
A statistically principled hard expectation-maximization procedure is introduced, with a Kalman smoother in the hard E-step, to identify dynamical representations of disturbance whose latent evolution is uniformly contractive, which yields a composite adaptive tracking controller with predictive capability and provable...
Min Kim, José Leonardo Brenes, Fred Y. Hadaegh et al.
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