Related papers: Operator is the Model
This paper proposes a method to identify a Koopman model of a feedback-controlled system given a known controller. The Koopman operator allows a nonlinear system to be rewritten as an infinite-dimensional linear system by viewing it in…
The Koopman-von Neumann equation describes the evolution of wavefunctions associated with autonomous ordinary differential equations and can be regarded as a quantum physics-inspired formulation of classical mechanics. The main advantage…
Learning dexterous manipulation skills presents significant challenges due to complex nonlinear dynamics that underlie the interactions between objects and multi-fingered hands. Koopman operators have emerged as a robust method for modeling…
Hyperparameters searches are computationally expensive. This paper studies some general choices of hyperparameters and training methods specifically for operator learning. It considers the architectures DeepONets, Fourier neural operators…
Nonlinear dynamical systems can be made easier to control by lifting them into the space of observable functions, where their evolution is described by the linear Koopman operator. This paper describes how the Koopman operator can be used…
In this paper, we propose linear operator theoretic framework involving Koopman operator for the data-driven identification of power system dynamics. We explicitly account for noise in the time series measurement data and propose robust…
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…
Koopman operator theory is a popular candidate for data-driven modeling because it provides a global linearization representation for nonlinear dynamical systems. However, existing Koopman operator-based methods suffer from shortcomings in…
We study a class of dynamical systems modelled as Markov chains that admit an invariant distribution via the corresponding transfer, or Koopman, operator. While data-driven algorithms to reconstruct such operators are well known, their…
We develop a data-driven, model-free approach for the optimal control of the dynamical system. The proposed approach relies on the Deep Neural Network (DNN) based learning of Koopman operator for the purpose of control. In particular, DNN…
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,…
The Koopman Operator (KO) offers a promising alternative methodology to solve ordinary differential equations analytically. The solution of the dynamical system is analyzed in terms of observables, which are expressed as a linear…
This paper develops a methodology for adaptive data-driven Model Predictive Control (MPC) using Koopman operators. While MPC is ubiquitous in various fields of engineering, the controller performance can deteriorate if the modeling error…
While machine learning can accurately model process systems, models for decision making should also be structurally simple and physically interpretable. In process control, for example, (nearly) linear models are favored than nonlinear…
Koopman operator describes evolution of observables in the phase space, which could be used to extract characteristic dynamical features of a nonlinear system. Here, we show that it is possible to carry out interesting symbolic partitions…
The Koopman Operator (KO) takes nonlinear state dynamics and ``lifts'' those dynamics to an infinite-dimensional functional space of observables in which those dynamics are linear. Computational applications typically use a…
The motivation behind mathematically modeling the human operator is to help explain the response characteristics of the complex dynamical system including the human manual controller. In this paper, we present two approaches to human…
This work presents a hybrid physics-informed and data-driven modeling framework for predictive control of autonomous off-road vehicles operating on deformable terrain. Traditional high-fidelity terramechanics models are often too…
Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under…
A learning method is proposed for Koopman operator-based models with the goal of improving closed-loop control behavior. A neural network-based approach is used to discover a space of observables in which nonlinear dynamics is linearly…