Related papers: Equivariance and partial observations in Koopman o…
In this paper, we consider the problem of quantifying controllability and observability of a nonlinear discrete time dynamical system. We introduce the Koopman operator as a canonical representation of the system and apply a lifting…
Integration of nonlinear partial differential equations with the help of the non-commutative integration over octonions is studied. An apparatus permitting to take into account symmetry properties of PDOs is developed. For this purpose…
A coarse-grained quantum operator technique is used along with the formalism of Bohmian mechanics endowed with stochastic character at the quantum level in order to address some central issues in the quantum theory of measurement. A…
System representations inspired by the infinite-dimensional Koopman operator (generator) are increasingly considered for predictive modeling. Due to the operator's linearity, a range of nonlinear systems admit linear predictor…
Real-world time series are characterized by intrinsic non-stationarity that poses a principal challenge for deep forecasting models. While previous models suffer from complicated series variations induced by changing temporal distribution,…
Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findings: We identify the following trends in recent research…
Within this work, we investigate how data-driven numerical approximation methods of the Koopman operator can be used in practical control engineering applications. We refer to the method Extended Dynamic Mode Decomposition (EDMD), which…
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…
This paper reports a theory of Koopman operators for a class of hybrid dynamical systems with globally asymptotically stable periodic orbits, called hybrid limit-cycling systems. We leverage smooth structures intrinsic to the hybrid…
The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through…
Sparked by the Willems' fundamental lemma, a class of data-driven control methods has been developed for LTI systems. At the same time, the Koopman operator theory attempts to cast a nonlinear control problem into a standard linear one…
Every invertible, measure-preserving dynamical system induces a Koopman operator, which is a linear, unitary evolution operator acting on the $L^2$ space of observables associated with the invariant measure. Koopman eigenfunctions represent…
The choice of mathematical representation when describing physical systems is of great consequence, and this choice is usually determined by the properties of the problem at hand. Here we examine the little-known wave operator…
Reachability analysis of nonlinear dynamical systems is a challenging and computationally expensive task. Computing the reachable states for linear systems, in contrast, can often be done efficiently in high dimensions. In this paper, we…
Long-horizon dynamical prediction is fundamental in robotics and control, underpinning canonical methods like model predictive control. Yet, many systems and disturbance phenomena are difficult to model due to effects like nonlinearity,…
In this paper, we propose an efficient data-driven predictive control approach for general nonlinear processes based on a reduced-order Koopman operator. A Kalman-based sparse identification of nonlinear dynamics method is employed to…
Nonlinearity plays a crucial role in deep neural networks. In this paper, we investigate the degree to which the nonlinearity of the neural network is essential. For this purpose, we employ the Koopman operator, extended dynamic mode…
Data-driven techniques for analysis, modeling, and control of complex dynamical systems are on the uptake. Koopman theory provides the theoretical foundation for the popular kernel extended dynamic mode decomposition (kEDMD). In this work,…
This paper presents a methodology to achieve lower-dimensional Koopman quasi-linear representations of nonlinear system dynamics using Koopman generalized eigenfunctions. The proposed approach considers the analytically derived Koopman…
The theory of Koopman operators allows to deploy non-parametric machine learning algorithms to predict and analyze complex dynamical systems. Estimators such as principal component regression (PCR) or reduced rank regression (RRR) in kernel…