Related papers: Decrypting Nonlinearity: Koopman Interpretation an…
This paper presents a data-driven method for constructing a Koopman linear model based on the Direct Encoding (DE) formula. The prevailing methods, Dynamic Mode Decomposition (DMD) and its extensions are based on least squares estimates…
The Koopman operator provides a linear framework to study nonlinear dynamical systems. Its spectra offer valuable insights into system dynamics, but the operator can exhibit both discrete and continuous spectra, complicating direct…
We offer a public key exchange protocol in the spirit of Diffie-Hellman, but we use (small) matrices over a group ring of a (small) symmetric group as the platform. This "nested structure" of the platform makes computation very efficient…
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…
Offline reinforcement learning leverages large datasets to train policies without interactions with the environment. The learned policies may then be deployed in real-world settings where interactions are costly or dangerous. Current…
We consider the problem of safe control design for a class of nonlinear, control-affine systems subject to an unknown, additive, nonlinear disturbance. Leveraging recent advancements in the application of Koopman operator theory to 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…
Koopman-based methods leverage a nonlinear lifting to enable linear regression techniques. Consequently, data generation, learning and prediction is performed through the lens of this lifting, giving rise to a nonlinear manifold that is…
Koopman liftings have been successfully used to learn high dimensional linear approximations for autonomous systems for prediction purposes, or for control systems for leveraging linear control techniques to control nonlinear dynamics. In…
Diffie-Hellman key-agreement and RSA cryptosystem are widely used to provide security in internet protocols. But both of the two algorithms are totally breakable using Shor's algorithms. This paper proposes two connected matrix-based…
We study the problem of online tracking in unknown nonlinear dynamical systems, where only short-horizon predictions of future target states are available. This setting arises in practical scenarios where full future information and exact…
The control of legged robots, particularly humanoid and quadruped robots, presents significant challenges due to their high-dimensional and nonlinear dynamics. While linear systems can be effectively controlled using methods like Model…
In a recent article, we presented a framework to control nonlinear partial differential equations (PDEs) by means of Koopman operator based reduced models and concepts from switched systems. The main idea was to transform a control system…
This work builds on the models and concepts presented in part 1 to learn approximate dictionary representations of Koopman operators from data. Part I of this paper presented a methodology for arguing the subspace invariance of a Koopman…
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…
A popular technique used to obtain linear representations of nonlinear systems is the so-called Koopman approach, where the nonlinear dynamics are lifted to a (possibly infinite dimensional) linear space through nonlinear functions called…
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…
In recent years data-driven analysis of dynamical systems has attracted a lot of attention and transfer operator techniques, namely, Perron-Frobenius and Koopman operators are being used almost ubiquitously. Since data is always obtained in…
We develop a Koopman operator framework for studying the {computational properties} of dynamical systems. Specifically, we show that the resolvent of the Koopman operator provides a natural abstraction of halting, yielding a ``Koopman…
Spectral decomposition of dynamical systems is a popular methodology to investigate the fundamental qualitative and quantitative properties of these systems and their solutions. In this chapter, we consider a class of nonlinear cooperative…