%PDF-1.4
%
1 0 obj
<>stream
application/pdfIEEEIEEE Robotics and Automation Letters;2019;4;2;10.1109/LRA.2019.2896728Model learning for controlrobot safetyrobust/adaptive control of robotic systemslearning and adaptive systemsProvably Robust Learning-Based Approach for High-Accuracy Tracking Control of Lagrangian SystemsMohamed K. HelwaAdam HeinsAngela P. Schoellig
IEEE Robotics and Automation Letters1587 April 20192410.1109/LRA.2019.28967281594
endstream
endobj
2 0 obj
<>
endobj
3 0 obj
<>/XObject<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI]/ColorSpace<>/Font<>/Properties<>>>/Thumb 25 0 R/MediaBox[0 0 594 792]/Annots[26 0 R 27 0 R 28 0 R 29 0 R 30 0 R 31 0 R 32 0 R]/Rotate 0>>
endobj
4 0 obj
<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI]/ColorSpace<>/Font<>>>/Thumb 38 0 R/MediaBox[0 0 594 792]/Rotate 0>>
endobj
5 0 obj
<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI]/ColorSpace<>/Font<>>>/Thumb 41 0 R/MediaBox[0 0 594 792]/Rotate 0>>
endobj
6 0 obj
<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI]/ColorSpace<>/Font<>>>/Thumb 44 0 R/MediaBox[0 0 594 792]/Rotate 0>>
endobj
7 0 obj
<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI]/ColorSpace<>/Font<>>>/Thumb 47 0 R/MediaBox[0 0 594 792]/Rotate 0>>
endobj
8 0 obj
<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI]/ColorSpace<>/Font<>>>/Thumb 50 0 R/MediaBox[0 0 594 792]/Rotate 0>>
endobj
9 0 obj
<>/XObject<>/ProcSet[/PDF/Text/ImageC/ImageB/ImageI]/ColorSpace<>/Font<>/Properties<>>>/Thumb 58 0 R/MediaBox[0 0 594 792]/Rotate 0>>
endobj
10 0 obj
<>/ProcSet[/PDF/Text/ImageB/ImageC/ImageI]/ColorSpace<>/Font<>/Properties<>>>/Thumb 63 0 R/MediaBox[0 0 594 792]/Rotate 0>>
endobj
11 0 obj
<>stream
x\[sȕ~ׯ`վU"%q2;&g C3a_AbivU"ssi|r\oO?|{&䫋lrѝ̲42]b~rIG2+&ޙTyOV'7^δSM>LMI?YM-~/ޜDM/{˾:{.{1UEjBŷ/J);ɷ..^}x7_wߦ\bOwte-IJ^[d3UN\@0vH39r76i2s^ZLjh0R}N2..ipLC{9n^Fo[7Wն^/67ƣ9MуޕpVy7|TٴL]LquW!żvw2s33xJ04Sgt꺫M]}`
۠tEmgez:
moU\M'Kz9&lrv[~r\Mzy~>MrkieɌ,Ɍ']}ד5NiT2DF|Euf >'YZdKf_z4'hbu2өR~RɌ;/E''O#FpS5+4.4c҂he~bG&
cD?3QSЯ?hIheЯU;Qezx6ZcѩF@+e4?nfU-OD&(V3^_5Saqv8h~D*-Hm8KI)h\=",i!=~xt2?4W`~kqjA$Y%8n9Yn/ КpVfsYg"xzTFqeX(a*LS+Eg5j2﵌oK~GތfSk`}rmF
{]ƍ@TxLq沮Pa,Ryop"$oUI%L
d9Yو4؟&1St/-AY_t`wFDΐ0>1:VTlFOeq$z3iqq<.ƣLn83 #Vd_X_J{=h-^. b߿7 >s8{!2TFB!G9}nSY'2<^\IkPDvrۓ߱cdϾ6>nc=]ӷAO|&&>4ɖ)J0_Fmd4Z,D5)Wke7#mܝB^!Md95ڬ݂
&+Un6eշT$Y/$G':fa4}ez
5?El!e^o0-wZFP$1|^Wf
y2'48+T5I]/R[mqݖͺSiJE
k}ӮW
DB$ty̫%{ۘ6oVtRjj5Z{]ĕztN
]*50pR0G/i~װmE\RԵ'A5v?țzS4۞% ei3PǮ)ٲm7RGw:pcTsqa2|=q"v]挏MT˒،6/xe-|NǜX ښN*-c;)T|Uc#ªȩ:f\%46'g'JuLl)/cˆ3AGFKmRB]*=U`>O*\ FoN(˺M_m-c@Um儥0Y~̡7oCJ;[V,F1xx][.nV`T%:\Pk`*ǛVD͈zt3aa,/_^4 M^oӂ
9#p0x1J J
u;ޓ߆iea[;6#blࣆh4a;ra0$dˋE3(`[TC{Â<##3j1P8N`ả`گ{#8gPT0& m6@|N/ۡdv4b~$`}GA 3
Q!A هCG:ٗe9Ut(1VgkLaU1cT`2VZA'$@
(Ӈ6#UV?"wtl/,f&@mRj;Bx!cu*_'oN[jQ*G?H Aa NAP9.nʠ"5#|MCxc\3Ģmlmkb/ZGh^䶁Q\m%iϙx
|rmVyW Pu
aUF1UhPuf=A:&`lZԙꩇ6_HQ$lR'ա5.qs4C4z(: n
It|V]CHșD5X+'5cY٨2C4d"> ~%ղWPE%ǡ$ >gYgGBc09VΑ@b1y0MG^7
,c綠75V>6}O>3m$M(97 VMDQi#I%o3!<*a*@{9eKR P|a܇czd%7@ЩOϿ
yHLl7Ʃ{>(d%1OwMW,-zz2@Е ;@_0 (xvWShXxj)1IS Lxwv[G[9 Pwͦ.Z! @|WoT/P'*;O\iawj%2yyd=*F6ܝ$ӛ'ެ
erI+&J*AA"JҌ:G:i>B Î%ŴA݆`z
ͬ}T
4jW|q9fьᫀ(db!TaSfv[R4<֦36S$}|%TC^fhg
ⶩjr;+bsM_}|{t
Bl.i^-? I1e4c(4z^@!V
tWB?!t!CMO
SR:
(:spolPLZ K=oWd0nco%
ϯ3FqW];keb6@ϭn_M?
Њ;_Mڐȏ'CrvwNZcE.Jfh7mioc_$
aU*^V) SAiHwȜ=MCH$Jw:dfO8!U؋ʹ,&\TTX9z8ñڕ|<un7|P6=
oj. k}WHlbXa u{*y<ԑߚobP\E51K@6JNodb3FUtxYC0pD&jI\crodox_ߒ>ެey5]+
_Z,Tpk߫8seN-t!gYn8D]* 3qv̽ij+V&қ7ZVڶ :LwaH|$DKJ`T%q(ư+FX\$>H$ZH+C"i<8a}