Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart
For detailed information about the project, please refer to the Report.
Supported Matlab Version >= R2019a
To run the Race Car example execute:
main_singletrack.m
A Gaussian process is used to learn unmodeled dynamics
The Gaussian Process model GP is then fed with data (X,Y+w) collected online, such that:
and it is trained (hyperparameter optimization) by maximizing the log Likelihood p(Y|X,theta), where theta is the vector of hyperparameters.
| MPC controller with Gaussian Process deactivated | MPC controller with TRAINED and ACTIVATED Gaussian Process |
|---|---|
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To run the Inverted Pendulum please execute
main_invertedPendulum.m