Related papers: A Koopman Operator Approach to Data-Driven Control…
In this paper, we propose a Koopman operator based approach to describe the nonlinear dynamics of a quadrotor on SE(3) in terms of an infinite-dimensional linear system which evolves in the space of observable functions (lifted space) and…
In this paper, we present a data-driven controller design method for continuous-time nonlinear systems, using no model knowledge but only measured data affected by noise. While most existing approaches focus on systems with polynomial…
A numerical framework is proposed for identifying partial differential equations (PDEs) governing dynamical systems directly from their observation data using Chebyshev polynomial approximation. In contrast to data-driven approaches such as…
While Koopman-based techniques like extended Dynamic Mode Decomposition are nowadays ubiquitous in the data-driven approximation of dynamical systems, quantitative error estimates were only recently established. To this end, both sources of…
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.…
In this paper, we directly design a state feedback controller that stabilizes a class of uncertain nonlinear systems solely based on input-state data collected from a finite-length experiment. Necessary and sufficient conditions are derived…
The Koopman framework proposes a linear representation of finite-dimensional nonlinear systems through a generally infinite-dimensional globally linear embedding. Originally, the Koopman formalism has been derived for autonomous systems. In…
This paper presents a novel framework for stabilizing nonlinear systems represented in state-dependent form. We first reformulate the nonlinear dynamics as a state-dependent parameter-varying model and synthesize a stabilizing controller…
We deal with a class of semilinear parabolic PDEs on the space of continuous functions that arise, for example, as Kolmogorov equations associated to the infinite-dimensional lifting of path-dependent SDEs. We investigate existence of…
Accurate modeling and control of autonomous vehicles remain a fundamental challenge due to the nonlinear and coupled nature of vehicle dynamics. While Koopman operator theory offers a framework for deploying powerful linear control…
This paper proposes a Koopman-based framework for modeling, prediction, and control of unknown nonlinear time-varying systems. We present a novel Koopman-based learning method for predicting the state of unknown nonlinear time-varying…
Approximating the Koopman operator from data is numerically challenging when many lifting functions are considered. Even low-dimensional systems can yield unstable or ill-conditioned results in a high-dimensional lifted space. In this…
This paper deals with the backstepping design of observer-based compensators for parabolic ODE-PDE-ODE systems. The latter consist of n coupled parabolic PDEs with distinct diffusion coefficients and spatially-varying coefficients, that are…
It is well-known that the controllability of finite-dimensional nonlinear systems can be established by showing the controllability of the linearized system. However, this classical result does not generalize to infinite-dimensional…
This paper presents a data-driven model predictive control framework for mobile robots navigating in dynamic environments, leveraging Koopman operator theory. Unlike the conventional Koopman-based approaches that focus on the linearization…
In this paper, data-driven algorithms based on Koopman Operator Theory are applied to identify and predict the nonlinear dynamics of a vapor compression system and cabin temperature in a light-duty electric vehicle. By leveraging a…
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…
The problem of stabilization of a system of coupled PDEs of the forth-order by means of boundary control is investigated. The considered setup arises from the classical Euler-Bernoulli beam model, and constitutes a generalization of…
This paper develops a method to learn optimal controls from data for bilinear systems without a priori knowledge of the system dynamics. Given an unknown bilinear system, we first characterize when the available data is suitable to solve…
The dynamic complexity of robots and mechatronic systems often pertains to the hybrid nature of dynamics, where governing equations consist of heterogenous equations that are switched depending on the state of the system. Legged robots and…