Related papers: Model-Based Control Using Koopman Operators
This paper presents a novel Koopman composition operator representation framework for control systems in reproducing kernel Hilbert spaces (RKHSs) that is free of explicit dictionary or input parametrizations. By establishing fundamental…
We introduce two novel generalizations of the Koopman operator method of nonlinear dynamic modeling. Each of these generalizations leads to greatly improved predictive performance without sacrificing a unique trait of Koopman methods: the…
The Koopman and Perron Frobenius transport operators are fundamentally changing how we approach dynamical systems, providing linear representations for even strongly nonlinear dynamics. Although there is tremendous potential benefit of such…
This paper proposes a class of basis functions for realizing the input-to-state stability verification of identified models obtained from the true system (assumed to be input-to-state stable) using the Koopman operator. The formulated…
This paper proposes a robust nonlinear observer synthesis method for a population of systems modelled using the Koopman operator. The Koopman operator allows nonlinear systems to be rewritten as infinite-dimensional linear systems. A…
Deep learning is revolutionizing weather forecasting, with new data-driven models achieving accuracy on par with operational physical models for medium-term predictions. However, these models often lack interpretability, making their…
In this paper, a novel Koopman-type inverse operator for linear time-invariant non-minimum phase systems with stochastic disturbances is proposed. This operator employs functions of the desired output to directly calculate the input.…
In recent years data-driven analysis of dynamical systems has attracted a lot of attention and transfer operator techniques, namely, Perron-Frobenius and Koopman operators are being used almost ubiquitously. Since data is always obtained in…
Used water treatment plays a pivotal role in advancing environmental sustainability. Economic model predictive control holds the promise of enhancing the overall operational performance of the water treatment facilities. In this study, we…
Matching dynamical systems, through different forms of conjugacies and equivalences, has long been a fundamental concept, and a powerful tool, in the study and classification of nonlinear dynamic behavior (e.g. through normal forms). In…
Formation control of multi-agent systems has been a prominent research topic, spanning both theoretical and practical domains over the past two decades. Our study delves into the leader-follower framework, addressing two critical,…
Koopman operators and transfer operators represent nonlinear dynamics in state space through its induced action on linear spaces of observables and measures, respectively. This framework enables the use of linear operator theory for…
The Koopman Operator (KO) is a mathematical construct that maps nonlinear (state space) dynamics to corresponding linear dynamics in an infinite-dimensional functional space. For practical applications, finite-dimensional approximations can…
Over the past decades, the Koopman operator has been widely applied in data-driven control, yet its theoretical foundations remain underexplored. This paper establishes a unified framework to address the robust stabilization problem in…
The Koopman operator is an useful analytical tool for studying dynamical systems -- both controlled and uncontrolled. For example, Koopman eigenfunctions can provide non-local stability information about the underlying dynamical system.…
In this paper, we introduce a new notion of Koopman operator which faithfully encodes the dynamics of controlled systems by leveraging the tools of set-valued analysis. In this context, we propose generalisations of the Liouville and…
Achieving rapid and time-deterministic stabilization for complex systems characterized by strong nonlinearities and parametric uncertainties presents a significant challenge. Traditional model-based control relies on precise system models,…
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback controller design therefore remains nonconvex in typical…
Soft robots, compared to regular rigid robots, as their multiple segments with soft materials bring flexibility and compliance, have the advantages of safe interaction and dexterous operation in the environment. However, due to its…
With the current trend of increasing complexity of industrial systems, the construction and monitoring of health indicators becomes even more challenging. Given that health indicators are commonly employed to predict the end of life, a…