Related papers: Stabilizing RED using the Koopman Operator
This paper presents a data-driven method to identify an asymptotically stable Koopman system from noisy data. In particular, the proposed approach combines approximations of the system's forward- and backward-in-time dynamics to reduce bias…
\emph{Koopman Regularization} is a constrained optimization-based method to learn the governing equations from sparse and corrupted samples of the vector field. \emph{Koopman Regularization} extracts a functionally independent set of…
In this paper, we provide an algorithm for online computation of Koopman operator in real-time using streaming data. In recent years, there has been an increased interest in data-driven analysis of dynamical systems, with operator theoretic…
Learning and synthesizing stabilizing controllers for unknown nonlinear control systems is a challenging problem for real-world and industrial applications. Koopman operator theory allows one to analyze nonlinear systems through the lens of…
Koopman spectral theory has provided a new perspective in the field of dynamical systems in recent years. Modern dynamical systems are becoming increasingly non-linear and complex, and there is a need for a framework to model these systems…
Although Koopman operators provide a global linearization for autonomous dynamical systems, nonautonomous systems are not globally linear in the inputs. State (or output) feedback controller design therefore remains nonconvex in typical…
Data-driven analysis and control of dynamical systems have gained a lot of interest in recent years. While the class of linear systems is well studied, theoretical results for nonlinear systems are still rare. In this paper, we present a…
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…
Analyzing the spectral properties of the Koopman operator is crucial for understanding and predicting the behavior of complex stochastic dynamical systems. However, the accuracy of data-driven estimation methods, such as Extended Dynamic…
The eigenspectrum of the Koopman operator enables the decomposition of nonlinear dynamics into a sum of nonlinear functions of the state space with purely exponential and sinusoidal time dependence. For a limited number of dynamical…
This work proposes a new framework of model reduction for parametric complex systems. The framework employs a popular model reduction technique dynamic mode decomposition (DMD), which is capable of combining data-driven learning and physics…
We provide one theorem of spectral equivalence of Koopman operators of an original dynamical system and its reconstructed one through the delay-embedding technique. The theorem is proved for measure-preserving maps (e.g. dynamics on compact…
Any deterministic autonomous dynamical system may be globally linearized by its' Koopman operator. This object is typically infinite-dimensional and can be approximated by the so-called Dynamic Mode Decomposition (DMD). In DMD, the central…
System representations inspired by the infinite-dimensional Koopman operator (generator) are increasingly considered for predictive modeling. Due to the operator's linearity, a range of nonlinear systems admit linear predictor…
In this paper, we present a novel sufficient condition for the stability of discrete-time linear systems that can be represented as a set of piecewise linear constraints, which make them suitable for quadratic programming optimization…
Time series forecasting plays a vital role across scientific, industrial, and environmental domains, especially when dealing with high-dimensional and nonlinear systems. While Transformer-based models have recently achieved state-of-the-art…
Dynamic mode decomposition has emerged as a leading technique to identify spatiotemporal coherent structures from high-dimensional data, benefiting from a strong connection to nonlinear dynamical systems via the Koopman operator. In this…
Purpose of review: We review recent advances in algorithmic development and validation for modeling and control of soft robots leveraging the Koopman operator theory. Recent findings: We identify the following trends in recent research…
The effectiveness of denoising-driven regularization for image reconstruction has been widely recognized. Two prominent algorithms in this area are Plug-and-Play ($\texttt{PnP}$) and Regularization-by-Denoising ($\texttt{RED}$). We consider…
The accurate modeling and control of nonlinear dynamical effects are crucial for numerous robotic systems. The Koopman formalism emerges as a valuable tool for linear control design in nonlinear systems within unknown environments. However,…