Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart

For detailed information about the project, please refer to the Presentation and 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.

NMPC controller with unmodelled dynamics	Learning-Based NMPC controller (with trained Gaussian Process)

To run the Inverted Pendulum please execute

main_invertedPendulum.m