{"id":"https://openalex.org/W2761385663","doi":"https://doi.org/10.1109/cdc.2017.8264435","title":"Feedback linearization using Gaussian processes","display_name":"Feedback linearization using Gaussian processes","publication_year":2017,"publication_date":"2017-12-01","ids":{"openalex":"https://openalex.org/W2761385663","doi":"https://doi.org/10.1109/cdc.2017.8264435","mag":"2761385663"},"language":"en","primary_location":{"id":"doi:10.1109/cdc.2017.8264435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8264435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},"type":"conference-paper","indexed_in":["crossref"],"open_access":{"is_oa":true,"oa_status":"green","oa_url":"http://mediatum.ub.tum.de/node?id=1374761","any_repository_has_fulltext":true},"authorships":[{"author_position":"first","author":{"id":"https://openalex.org/A5028926639","display_name":"Jonas Umlauft","orcid":"https://orcid.org/0000-0003-2865-4658"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Jonas Umlauft","raw_affiliation_strings":["Chair of Information-oriented Control, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Information-oriented Control, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5087890782","display_name":"Thomas Beckers","orcid":"https://orcid.org/0000-0003-1718-0338"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Thomas Beckers","raw_affiliation_strings":["Chair of Information-oriented Control, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Information-oriented Control, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"middle","author":{"id":"https://openalex.org/A5050987687","display_name":"Melanie Kimmel","orcid":"https://orcid.org/0000-0001-5196-3833"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Melanie Kimmel","raw_affiliation_strings":["Chair of Information-oriented Control, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Information-oriented Control, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]},{"author_position":"last","author":{"id":"https://openalex.org/A5024376647","display_name":"Sandra Hirche","orcid":"https://orcid.org/0000-0001-7819-5926"},"institutions":[{"id":"https://openalex.org/I62916508","display_name":"Technical University of Munich","ror":"https://ror.org/02kkvpp62","country_code":"DE","type":"education","lineage":["https://openalex.org/I62916508"]}],"countries":["DE"],"is_corresponding":false,"raw_author_name":"Sandra Hirche","raw_affiliation_strings":["Chair of Information-oriented Control, Technical University of Munich, Munich, Germany"],"raw_orcid":null,"affiliations":[{"raw_affiliation_string":"Chair of Information-oriented Control, Technical University of Munich, Munich, Germany","institution_ids":["https://openalex.org/I62916508"]}]}],"institutions":[],"countries_distinct_count":1,"institutions_distinct_count":1,"corresponding_author_ids":[],"corresponding_institution_ids":["https://openalex.org/I62916508"],"apc_list":null,"apc_paid":null,"fwci":3.8759,"has_fulltext":false,"cited_by_count":70,"citation_normalized_percentile":{"value":0.95695055,"is_in_top_1_percent":false,"is_in_top_10_percent":true},"cited_by_percentile_year":{"min":97,"max":99},"biblio":{"volume":null,"issue":null,"first_page":"5249","last_page":"5255"},"is_retracted":false,"is_paratext":false,"is_xpac":false,"primary_topic":{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},"topics":[{"id":"https://openalex.org/T12814","display_name":"Gaussian Processes and Bayesian Inference","score":0.9995999932289124,"subfield":{"id":"https://openalex.org/subfields/1702","display_name":"Artificial Intelligence"},"field":{"id":"https://openalex.org/fields/17","display_name":"Computer Science"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T11236","display_name":"Control Systems and Identification","score":0.9994000196456909,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}},{"id":"https://openalex.org/T10876","display_name":"Fault Detection and Control Systems","score":0.9912999868392944,"subfield":{"id":"https://openalex.org/subfields/2207","display_name":"Control and Systems Engineering"},"field":{"id":"https://openalex.org/fields/22","display_name":"Engineering"},"domain":{"id":"https://openalex.org/domains/3","display_name":"Physical Sciences"}}],"keywords":[{"id":"https://openalex.org/keywords/feedback-linearization","display_name":"Feedback linearization","score":0.6843945980072021},{"id":"https://openalex.org/keywords/computer-science","display_name":"Computer science","score":0.6270512938499451},{"id":"https://openalex.org/keywords/linearization","display_name":"Linearization","score":0.5816579461097717},{"id":"https://openalex.org/keywords/controller","display_name":"Controller (irrigation)","score":0.5693001747131348},{"id":"https://openalex.org/keywords/kernel","display_name":"Kernel (algebra)","score":0.5677627325057983},{"id":"https://openalex.org/keywords/gaussian-process","display_name":"Gaussian process","score":0.5503473281860352},{"id":"https://openalex.org/keywords/control-theory","display_name":"Control theory (sociology)","score":0.5413323640823364},{"id":"https://openalex.org/keywords/system-identification","display_name":"System identification","score":0.5271912217140198},{"id":"https://openalex.org/keywords/nonparametric-statistics","display_name":"Nonparametric statistics","score":0.5251864194869995},{"id":"https://openalex.org/keywords/identification","display_name":"Identification (biology)","score":0.4921778738498688},{"id":"https://openalex.org/keywords/bayesian-probability","display_name":"Bayesian probability","score":0.4896004796028137},{"id":"https://openalex.org/keywords/dynamical-systems-theory","display_name":"Dynamical systems theory","score":0.47944584488868713},{"id":"https://openalex.org/keywords/bounded-function","display_name":"Bounded function","score":0.4759778082370758},{"id":"https://openalex.org/keywords/gaussian","display_name":"Gaussian","score":0.4587888717651367},{"id":"https://openalex.org/keywords/system-dynamics","display_name":"System dynamics","score":0.4561116695404053},{"id":"https://openalex.org/keywords/machine-learning","display_name":"Machine learning","score":0.3699561357498169},{"id":"https://openalex.org/keywords/artificial-intelligence","display_name":"Artificial intelligence","score":0.36291056871414185},{"id":"https://openalex.org/keywords/data-modeling","display_name":"Data modeling","score":0.36279505491256714},{"id":"https://openalex.org/keywords/mathematics","display_name":"Mathematics","score":0.24007725715637207},{"id":"https://openalex.org/keywords/nonlinear-system","display_name":"Nonlinear system","score":0.20702505111694336},{"id":"https://openalex.org/keywords/control","display_name":"Control (management)","score":0.1457572877407074},{"id":"https://openalex.org/keywords/statistics","display_name":"Statistics","score":0.07619136571884155}],"concepts":[{"id":"https://openalex.org/C85736874","wikidata":"https://www.wikidata.org/wiki/Q672139","display_name":"Feedback linearization","level":3,"score":0.6843945980072021},{"id":"https://openalex.org/C41008148","wikidata":"https://www.wikidata.org/wiki/Q21198","display_name":"Computer science","level":0,"score":0.6270512938499451},{"id":"https://openalex.org/C11210021","wikidata":"https://www.wikidata.org/wiki/Q1520713","display_name":"Linearization","level":3,"score":0.5816579461097717},{"id":"https://openalex.org/C203479927","wikidata":"https://www.wikidata.org/wiki/Q5165939","display_name":"Controller (irrigation)","level":2,"score":0.5693001747131348},{"id":"https://openalex.org/C74193536","wikidata":"https://www.wikidata.org/wiki/Q574844","display_name":"Kernel (algebra)","level":2,"score":0.5677627325057983},{"id":"https://openalex.org/C61326573","wikidata":"https://www.wikidata.org/wiki/Q1496376","display_name":"Gaussian process","level":3,"score":0.5503473281860352},{"id":"https://openalex.org/C47446073","wikidata":"https://www.wikidata.org/wiki/Q5165890","display_name":"Control theory (sociology)","level":3,"score":0.5413323640823364},{"id":"https://openalex.org/C119247159","wikidata":"https://www.wikidata.org/wiki/Q1366192","display_name":"System identification","level":3,"score":0.5271912217140198},{"id":"https://openalex.org/C102366305","wikidata":"https://www.wikidata.org/wiki/Q1097688","display_name":"Nonparametric statistics","level":2,"score":0.5251864194869995},{"id":"https://openalex.org/C116834253","wikidata":"https://www.wikidata.org/wiki/Q2039217","display_name":"Identification (biology)","level":2,"score":0.4921778738498688},{"id":"https://openalex.org/C107673813","wikidata":"https://www.wikidata.org/wiki/Q812534","display_name":"Bayesian probability","level":2,"score":0.4896004796028137},{"id":"https://openalex.org/C79379906","wikidata":"https://www.wikidata.org/wiki/Q3174497","display_name":"Dynamical systems theory","level":2,"score":0.47944584488868713},{"id":"https://openalex.org/C34388435","wikidata":"https://www.wikidata.org/wiki/Q2267362","display_name":"Bounded function","level":2,"score":0.4759778082370758},{"id":"https://openalex.org/C163716315","wikidata":"https://www.wikidata.org/wiki/Q901177","display_name":"Gaussian","level":2,"score":0.4587888717651367},{"id":"https://openalex.org/C77405623","wikidata":"https://www.wikidata.org/wiki/Q598451","display_name":"System dynamics","level":2,"score":0.4561116695404053},{"id":"https://openalex.org/C119857082","wikidata":"https://www.wikidata.org/wiki/Q2539","display_name":"Machine learning","level":1,"score":0.3699561357498169},{"id":"https://openalex.org/C154945302","wikidata":"https://www.wikidata.org/wiki/Q11660","display_name":"Artificial intelligence","level":1,"score":0.36291056871414185},{"id":"https://openalex.org/C67186912","wikidata":"https://www.wikidata.org/wiki/Q367664","display_name":"Data modeling","level":2,"score":0.36279505491256714},{"id":"https://openalex.org/C33923547","wikidata":"https://www.wikidata.org/wiki/Q395","display_name":"Mathematics","level":0,"score":0.24007725715637207},{"id":"https://openalex.org/C158622935","wikidata":"https://www.wikidata.org/wiki/Q660848","display_name":"Nonlinear system","level":2,"score":0.20702505111694336},{"id":"https://openalex.org/C2775924081","wikidata":"https://www.wikidata.org/wiki/Q55608371","display_name":"Control (management)","level":2,"score":0.1457572877407074},{"id":"https://openalex.org/C105795698","wikidata":"https://www.wikidata.org/wiki/Q12483","display_name":"Statistics","level":1,"score":0.07619136571884155},{"id":"https://openalex.org/C86803240","wikidata":"https://www.wikidata.org/wiki/Q420","display_name":"Biology","level":0,"score":0.0},{"id":"https://openalex.org/C121332964","wikidata":"https://www.wikidata.org/wiki/Q413","display_name":"Physics","level":0,"score":0.0},{"id":"https://openalex.org/C6557445","wikidata":"https://www.wikidata.org/wiki/Q173113","display_name":"Agronomy","level":1,"score":0.0},{"id":"https://openalex.org/C134306372","wikidata":"https://www.wikidata.org/wiki/Q7754","display_name":"Mathematical analysis","level":1,"score":0.0},{"id":"https://openalex.org/C62520636","wikidata":"https://www.wikidata.org/wiki/Q944","display_name":"Quantum mechanics","level":1,"score":0.0},{"id":"https://openalex.org/C77088390","wikidata":"https://www.wikidata.org/wiki/Q8513","display_name":"Database","level":1,"score":0.0},{"id":"https://openalex.org/C114614502","wikidata":"https://www.wikidata.org/wiki/Q76592","display_name":"Combinatorics","level":1,"score":0.0},{"id":"https://openalex.org/C59822182","wikidata":"https://www.wikidata.org/wiki/Q441","display_name":"Botany","level":1,"score":0.0}],"mesh":[],"locations_count":2,"locations":[{"id":"doi:10.1109/cdc.2017.8264435","is_oa":false,"landing_page_url":"https://doi.org/10.1109/cdc.2017.8264435","pdf_url":null,"source":null,"license":null,"license_id":null,"version":"publishedVersion","is_accepted":true,"is_published":true,"raw_source_name":"2017 IEEE 56th Annual Conference on Decision and Control (CDC)","raw_type":"proceedings-article"},{"id":"pmh:oai:mediatum.ub.tum.de:node/1374761","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1374761","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"}],"best_oa_location":{"id":"pmh:oai:mediatum.ub.tum.de:node/1374761","is_oa":true,"landing_page_url":"http://mediatum.ub.tum.de/node?id=1374761","pdf_url":null,"source":{"id":"https://openalex.org/S4306400453","display_name":"mediaTUM \u2013 the media and publications repository of the Technical University Munich (Technical University Munich)","issn_l":null,"issn":null,"is_oa":false,"is_in_doaj":false,"is_core":false,"host_organization":"https://openalex.org/I62916508","host_organization_name":"Technical University of Munich","host_organization_lineage":["https://openalex.org/I62916508"],"host_organization_lineage_names":[],"type":"repository"},"license":"other-oa","license_id":"https://openalex.org/licenses/other-oa","version":"submittedVersion","is_accepted":false,"is_published":false,"raw_source_name":"","raw_type":"article"},"sustainable_development_goals":[],"awards":[],"funders":[],"has_content":{"pdf":false,"grobid_xml":false},"content_urls":null,"referenced_works_count":20,"referenced_works":["https://openalex.org/W824892955","https://openalex.org/W1591566337","https://openalex.org/W1746819321","https://openalex.org/W1986061648","https://openalex.org/W2054184020","https://openalex.org/W2085330455","https://openalex.org/W2092766760","https://openalex.org/W2126877537","https://openalex.org/W2143346970","https://openalex.org/W2166063021","https://openalex.org/W2166566250","https://openalex.org/W2298163601","https://openalex.org/W2568724943","https://openalex.org/W2572801168","https://openalex.org/W3098713169","https://openalex.org/W3100362383","https://openalex.org/W3104473931","https://openalex.org/W4211049957","https://openalex.org/W4243655478","https://openalex.org/W6684451488"],"related_works":["https://openalex.org/W4229795303","https://openalex.org/W2141603307","https://openalex.org/W4300553158","https://openalex.org/W2483786707","https://openalex.org/W2101533328","https://openalex.org/W3139759507","https://openalex.org/W2109406163","https://openalex.org/W2037306524","https://openalex.org/W2959282771","https://openalex.org/W2189300986"],"abstract_inverted_index":{"Data-driven":[0],"approaches":[1],"from":[2],"machine":[3],"learning":[4],"provide":[5],"powerful":[6],"tools":[7],"to":[8,29,100],"identify":[9],"dynamical":[10],"systems":[11],"with":[12,105],"limited":[13],"prior":[14],"knowledge":[15],"of":[16,90,96,111],"the":[17,42,54,57,73,87,91,94,97,102,116],"model":[18,32],"structure.":[19],"This":[20],"paper":[21],"utilizes":[22],"Gaussian":[23],"processes,":[24],"a":[25,31,38,84,106,112],"Bayesian":[26],"nonparametric":[27],"approach,":[28],"learn":[30],"for":[33,45],"feedback":[34,65],"linearization.":[35],"By":[36],"using":[37],"proper":[39],"kernel":[40],"structure,":[41],"training":[43,88],"data":[44,89],"identification":[46],"is":[47,67,76],"collected":[48],"while":[49],"an":[50,60],"existing":[51],"controller":[52],"runs":[53],"system.":[55],"Using":[56],"identified":[58],"dynamics,":[59],"improved":[61],"controller,":[62],"based":[63],"on":[64],"linearization,":[66],"proposed.":[68],"The":[69],"analysis":[70],"shows":[71],"that":[72],"resulting":[74],"system":[75,92,103,114],"globally":[77],"uniformly":[78],"ultimately":[79],"bounded.":[80],"We":[81],"further":[82],"derive":[83],"relationship":[85],"between":[86],"and":[93],"size":[95],"ultimate":[98],"bound":[99],"which":[101],"converges":[104],"certain":[107],"probability.":[108],"A":[109],"simulation":[110],"robotic":[113],"illustrates":[115],"proposed":[117],"method.":[118]},"counts_by_year":[{"year":2026,"cited_by_count":3},{"year":2025,"cited_by_count":7},{"year":2024,"cited_by_count":5},{"year":2023,"cited_by_count":11},{"year":2022,"cited_by_count":5},{"year":2021,"cited_by_count":11},{"year":2020,"cited_by_count":11},{"year":2019,"cited_by_count":12},{"year":2018,"cited_by_count":5}],"updated_date":"2026-07-29T14:22:42.915294","created_date":"2025-10-10T00:00:00"}
