Related papers: Consistent spectral approximation of Koopman opera…
Many machine learning approaches for decision making, such as reinforcement learning, rely on simulators or predictive models to forecast the time-evolution of quantities of interest, e.g., the state of an agent or the reward of a policy.…
Dynamic Mode Decomposition (DMD) has become synonymous with the Koopman operator, where continuous time dynamics are examined through a discrete time proxy determined by a fixed timestep using Koopman (i.e. composition) operators. Using the…
Nonlinearity presents a significant challenge in problems involving dynamical systems, prompting the exploration of various linearization techniques, including the well-known Carleman Linearization. In this paper, we introduce the Koopman…
The regression problem associated with finding a matrix approximation of the Koopman operator from data is considered. The regression problem is formulated as a convex optimization problem subject to linear matrix inequality (LMI)…
In this work we approach the dual optimal reach-safe control problem using sparse approximations of Koopman operator. Matrix approximation of Koopman operator needs to solve a least-squares (LS) problem in the lifted function space, which…
We perform a numerical approximation of coherent sets in finite-dimensional smooth dynamical systems by computing singular vectors of the transfer operator for a stochastically perturbed flow. This operator is obtained by solution of a…
Extracting information about dynamical systems from models learned off simulation data has become an increasingly important research topic in the natural and engineering sciences. Modeling the Koopman operator semigroup has played a central…
This paper explores the application of Koopman operator theory to the control of robotic systems. The operator is introduced as a method to generate data-driven models that have utility for model-based control methods. We then motivate the…
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…
Spatial temporal reconstruction of dynamical system is indeed a crucial problem with diverse applications ranging from climate modeling to numerous chaotic and physical processes. These reconstructions are based on the harmonious…
In this paper, we systematically derive a finite set of Koopman based observables to construct a lifted linear state space model that describes the rigid body dynamics based on the dual quaternion representation. In general, the Koopman…
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…
Using the resolvent operator, we develop an algorithm for computing smoothed approximations of spectral measures associated with self-adjoint operators. The algorithm can achieve arbitrarily high-orders of convergence in terms of a…
The mathematical properties and data-driven learning of the Koopman operator, which represents nonlinear dynamics as a linear mapping on a properly defined functional spaces, have become key problems in nonlinear system identification and…
A high order optimal control strategy implemented in the Koopman operator framework is proposed in this work. The new technique exploits the Koopman representation of the solution of the equations of motion to develop an energy optimal…
Finite-dimensional approximations of the Koopman operator rely critically on identifying nearly invariant subspaces. This invariance proximity can be rigorously quantified via the principal angles between a candidate subspace and its image…
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…
In this article, we propose a new error bound for Koopman operator approximation using Kernel Extended Dynamic Mode Decomposition. The new estimate is $O(N^{-1/2})$, with a constant related to the probability of success of the bound, given…
The Koopman operator has emerged as a powerful tool for the analysis of nonlinear dynamical systems as it provides coordinate transformations to globally linearize the dynamics. While recent deep learning approaches have been useful in…
Providing rigorous reachability guarantees for unknown complex systems is a crucial and challenging task. In this paper, we present a novel data-driven framework that addresses this challenge by leveraging Koopman operator theory. Instead…