Related papers: PyKoopman: A Python Package for Data-Driven Approx…
The Koopman operator serves as the theoretical backbone for machine learning of dynamical control systems, where the operator is heuristically approximated by extended dynamic mode decomposition (EDMD). In this paper, we propose SafEDMD, a…
Koopman operator theory provides a framework for nonlinear dynamical system analysis and time-series forecasting by mapping dynamics to a space of real-valued measurement functions, enabling a linear operator representation. Despite the…
Koopman operator theory has found significant success in learning models of complex, real-world dynamical systems, enabling prediction and control. The greater interpretability and lower computational costs of these models, compared to…
This paper addresses the problem of nonlinear state estimation for dynamical systems whose governing equations are approximated through Koopman operator liftings. While Koopman-based predictors have demonstrated broad approximation…
We present a data-driven shared control algorithm that can be used to improve a human operator's control of complex dynamic machines and achieve tasks that would otherwise be challenging, or impossible, for the user on their own. Our method…
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…
The Koopman operator provides a powerful framework for data-driven analysis of dynamical systems. In the last few years, a wealth of numerical methods providing finite-dimensional approximations of the operator have been proposed (e.g.…
This paper uses data-driven operator theoretic approaches to explore the global phase space of a dynamical system. We defined conditions for discovering new invariant subspaces in the state space of a dynamical system starting from an…
This research presents a novel, analytical, Koopman Operator based formulation for position and attitude dynamics which can be used to derive control strategies for underactuated systems. Compared to data driven Koopman based techniques,…
Controlling soft robots with precision is a challenge due in large part to the difficulty of constructing models that are amenable to model-based control design techniques. Koopman Operator Theory offers a way to construct explicit linear…
The Koopman operator framework provides a perspective that non-linear dynamics can be described through the lens of linear operators acting on function spaces. As the framework naturally yields linear embedding models, there have been…
Lyapunov functions play a vital role in the context of control theory for nonlinear dynamical systems. Besides its classical use for stability analysis, Lyapunov functions also arise in iterative schemes for computing optimal feedback laws…
We propose a scalable reachability-based framework for probabilistic, data-driven safety verification of unknown nonlinear dynamics. We use Koopman theory with a neural network (NN) lifting function to learn an approximate linear…
This paper presents DeepKoCo, a novel model-based agent that learns a latent Koopman representation from images. This representation allows DeepKoCo to plan efficiently using linear control methods, such as linear model predictive control.…
We use Koopman theory for data-driven model reduction of nonlinear dynamical systems with controls. We propose generic model structures combining delay-coordinate encoding of measurements and full-state decoding to integrate reduced Koopman…
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.…
Advanced autonomous driving systems require accurate vehicle dynamics modeling. However, identifying a precise dynamics model remains challenging due to strong nonlinearities and the coupled longitudinal and lateral dynamic characteristics.…
This paper proposes a Koopman-based framework for modeling, prediction, and control of unknown nonlinear time-varying systems. We present a novel Koopman-based learning method for predicting the state of unknown nonlinear time-varying…
This work presents a novel data-driven framework for constructing eigenfunctions of the Koopman operator geared toward prediction and control. The method leverages the richness of the spectrum of the Koopman operator away from attractors to…
This paper investigates the impact of approximation error in data-driven optimal control problem of nonlinear systems while using the Koopman operator. While the Koopman operator enables a simplified representation of nonlinear dynamics…