Related papers: The Distributional Koopman Operator for Random Dyn…

Koopman Mode Decomposition (KMD) is a technique of nonlinear time-series analysis that originates from point spectrum of the Koopman operator defined for an underlying nonlinear dynamical system. We present a numerical algorithm of KMD…

Koopman operator theory provides a powerful data-driven technique for modeling nonlinear dynamical systems in a linear framework, in comparison to computationally expensive and highly nonlinear physics-based simulations. However, Koopman…

Nonlinear optimal control is vital for numerous applications but remains challenging for unknown systems due to the difficulties in accurately modelling dynamics and handling computational demands, particularly in high-dimensional settings.…

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…

Soft robots are challenging to model and control as inherent non-linearities (e.g., elasticity and deformation), often requires complex explicit physics-based analytical modeling (e.g., a priori geometric definitions). While machine…

The seminal paper of Jordan, Kinderlehrer, and Otto introduced what is now widely known as the JKO scheme, an iterative algorithmic framework for computing distributions. This scheme can be interpreted as a Wasserstein gradient flow and has…

In this paper, an extension to rules-based fault detection is demonstrated utilizing properties of the Koopman operator. The Koopman operator is an infinite-dimensional, linear operator that captures nonlinear, finite dimensional dynamics.…

This paper addresses the problem of seeking a common fixed point for a collection of nonexpansive operators over time-varying multi-agent networks in real Hilbert spaces, where each operator is only privately and approximately known to each…

We consider stochastic programs conditional on some covariate information, where the only knowledge of the possible relationship between the uncertain parameters and the covariates is reduced to a finite data sample of their joint…

The Koopman operator is an useful analytical tool for studying dynamical systems -- both controlled and uncontrolled. For example, Koopman eigenfunctions can provide non-local stability information about the underlying dynamical system.…

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.…

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…

Optimal sensor placement is an important yet unsolved problem in control theory. In biological organisms, genetic activity is often highly nonlinear, making it difficult to design libraries of promoters to act as reporters of the cell…

This paper proposes a data-driven framework to learn a finite-dimensional approximation of a Koopman operator for approximating the state evolution of a dynamical system under noisy observations. To this end, our proposed solution has two…

Koopman operators provide a linear framework for data-driven analyses of nonlinear dynamical systems, but their infinite-dimensional nature presents major computational challenges. In this article, we offer an introductory guide to Koopman…

The Koopman operator framework can be used to identify a data-driven model of a nonlinear system. Unfortunately, when the data is corrupted by noise, the identified model can be biased. Additionally, depending on the choice of lifting…

Finding an embedding space for a linear approximation of a nonlinear dynamical system enables efficient system identification and control synthesis. The Koopman operator theory lays the foundation for identifying the nonlinear-to-linear…

The Koopman operator, as a linear representation of a nonlinear dynamical system, has been attracting attention in many fields of science. Recently, Koopman operator theory has been combined with another concept that is popular in data…

The theory of dual control was introduced more than seven decades ago. Although it has provided rich insights to the fields of control, estimation, and system identification, dual control is generally computationally prohibitive. In recent…

Credible forecasting and representation learning of dynamical systems are of ever-increasing importance for reliable decision-making. To that end, we propose a family of Gaussian processes (GP) for dynamical systems with linear…