Related papers: Data-driven identification of vehicle dynamics usi…
Controlling robots with strongly nonlinear, high-dimensional dynamics remains challenging, as direct nonlinear optimization with safety constraints is often intractable in real time. The Koopman operator offers a way to represent nonlinear…
We consider the problem of safe control design for a class of nonlinear, control-affine systems subject to an unknown, additive, nonlinear disturbance. Leveraging recent advancements in the application of Koopman operator theory to the…
This paper proposes Koopman operator-based Stochastic Model Predictive Control (K-SMPC) for enhanced lateral control of autonomous vehicles. The Koopman operator is a linear map representing the nonlinear dynamics in an infinite-dimensional…
The Koopman operator theory is an increasingly popular formalism of dynamical systems theory which enables analysis and prediction of the nonlinear dynamics from measurement data. Building on the recent development of the Koopman model…
A systematic mathematical framework for the study of numerical algorithms would allow comparisons, facilitate conjugacy arguments, as well as enable the discovery of improved, accelerated, data-driven algorithms. Over the course of the last…
Recurrent neural networks are widely used on time series data, yet such models often ignore the underlying physical structures in such sequences. A new class of physics-based methods related to Koopman theory has been introduced, offering…
Koopman operator recently gained increasing attention in the control systems community for its abilities to bridge linear and nonlinear systems. Data driven Koopman operator approximations have established themselves as key enablers for…
We propose an analytical construction of observable functions in the extended dynamic mode decomposition (EDMD) algorithm. EDMD is a numerical method for approximating the spectral properties of the Koopman operator. The choice of…
Research on Koopman operator theory has focused on three key areas for several decades: the mathematical structure of the Koopman eigenfunction space, the basis of this space, and the ability to represent nonlinear dynamics as linear. This…
The Koopman framework is a popular approach to transform a finite dimensional nonlinear system into an infinite dimensional, but linear model through a lifting process, using so-called observable functions. While there is an extensive…
We demonstrate that numerically computed approximations of Koopman eigenfunctions and eigenvalues create a natural framework for data fusion in applications governed by nonlinear evolution laws. This is possible because the eigenvalues of…
We present a novel approach to shared control of human-machine systems. Our method assumes no a priori knowledge of the system dynamics. Instead, we learn both the dynamics and information about the user's interaction from observation…
An outstanding challenge in nonlinear systems theory is identification or learning of a given nonlinear system's Koopman operator directly from data or models. Advances in extended dynamic mode decomposition approaches and machine learning…
In this work, we consider a state estimation problem for large-scale nonlinear processes in the absence of first-principles process models. By exploiting process operation data, both process modeling and state estimation design are…
We consider the application of Koopman theory to nonlinear partial differential equations. We demonstrate that the observables chosen for constructing the Koopman operator are critical for enabling an accurate approximation to the nonlinear…
In Koopman operator theory, a finite-dimensional nonlinear system is transformed into an infinite but linear system using a set of observable functions. However, manually selecting observable functions that span the invariant subspace of…
This paper proposes a mode-in-state contribution factor for a class of nonlinear dynamical systems by utilizing spectral properties of the Koopman operator and sensitivity analysis. Using eigenfunctions of the Koopman operator for a target…
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…
Dynamical systems provide a comprehensive way to study complex and changing behaviors across various sciences. Many modern systems are too complicated to analyze directly or we do not have access to models, driving significant interest in…
Koopman operator theory has been successfully applied to problems from various research areas such as fluid dynamics, molecular dynamics, climate science, engineering, and biology. Applications include detecting metastable or coherent sets,…