Related papers: Dictionary-free Koopman model predictive control w…
PyKoopman is a Python package for the data-driven approximation of the Koopman operator associated with a dynamical system. The Koopman operator is a principled linear embedding of nonlinear dynamics and facilitates the prediction,…
We introduce a data-driven order reduction method for nonlinear control systems, drawing on recent progress in machine learning and statistical dimensionality reduction. The method rests on the assumption that the nonlinear system behaves…
When complex systems with nonlinear dynamics achieve an output performance objective, only a fraction of the state dynamics significantly impacts that output. Those minimal state dynamics can be identified using the differential geometric…
We study a problem of simultaneous system identification and model predictive control of nonlinear systems. Particularly, we provide an algorithm for systems with unknown residual dynamics that can be expressed by Koopman operators. Such…
Koopman operators are of infinite dimension and capture the characteristics of nonlinear dynamics in a lifted global linear manner. The finite data-driven approximation of Koopman operators results in a class of linear predictors, useful…
Koopman operator theory has been gaining momentum for model extraction, planning, and control of data-driven robotic systems. The Koopman operator's ability to extract dynamics from data depends heavily on the selection of an appropriate…
A turbocharger plays an essential part in reducing emissions and increasing the fuel efficiency of road vehicles. The pulsating flow of exhaust gases, along with high heat exchange from the turbocharger casing, makes developing…
The present paper treats the identification of nonlinear dynamical systems using Koopman-based deep state-space encoders. Through this method, the usual drawback of needing to choose a dictionary of lifting functions a priori is…
For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…
Advances in machine learning and the growing trend towards effortless data generation in real-world systems has led to an increasing interest for data-inferred models and data-based control in robotics. It seems appealing to govern robots…
This study introduces a data-driven twin modeling framework based on modern Koopman operator theory, offering a significant advancement over classical modal decomposition by accurately capturing nonlinear dynamics with reduced complexity…
In this article, we present data-driven reduced-order modeling for nonautonomous dynamical systems in multiscale media using Koopman operators. Different from the case of autonomous dynamical systems, the Koopman operator family of…
This paper proposes Select-Data-driven Predictive Control (Select-DPC), a new method for controlling nonlinear systems using output-feedback for which data are available but an explicit model is not. At each timestep, Select-DPC employs…
This paper addresses a learning problem for nonlinear dynamical systems with incorporating any specified dissipativity property. The nonlinear systems are described by the Koopman operator, which is a linear operator defined on the…
Koopman operator theory enables a global linear representation of a given nonlinear dynamical system by transforming the nonlinear dynamics into a higher dimensional observable function space where the evolution of observable functions is…
Descriptor systems arise naturally in real-world applications governed by algebraic constraints, such as power networks, robotics and chemical processes. When a descriptor model contains a nontrivial nilpotent block, the discrete-time…
We present a data-driven nonlinear predictive control approach for the class of discrete-time multi-input multi-output feedback linearizable nonlinear systems. The scheme uses a non-parametric predictive model based only on input and noisy…
This paper investigates the data-driven predictive control problems for a class of continuous-time industrial processes with completely unknown dynamics. The proposed approach employs the data-driven technique to get the system matrices…
We present a data-driven approach to use the Koopman generator for prediction and optimal control of control-affine stochastic systems. We provide a novel conceptual approach and a proof-of-principle for the determination of optimal control…
This paper proposes a novel approach for modeling and controlling nonlinear systems with varying parameters. The approach introduces the use of a parameter-varying Koopman operator (PVKO) in a lifted space, which provides an efficient way…