Related papers: An Introductory Guide to Koopman Learning

This work focuses on developing a data-driven framework using Koopman operator theory for system identification and linearization of nonlinear systems for control. Our proposed method presents a deep learning framework with recursive…

The Koopman operator theory is an increasingly popular formalism of dynamical systems theory which enables analysis and prediction of the nonlinear dynamics from measurement data. Building on the recent development of the Koopman model…

Data-driven spectral analysis of Koopman operators is a powerful tool for understanding numerous real-world dynamical systems, from neuronal activity to variations in sea surface temperature. The Koopman operator acts on a function space…

Nonlinear dynamical systems can be handily described by the associated Koopman operator, whose action evolves every observable of the system forward in time. Learning the Koopman operator and its spectral decomposition from data is enabled…

This paper introduces new model parameterizations for learning discrete-time dynamical systems from data via the Koopman operator and studies their properties. Whereas most existing works on Koopman learning do not take into account the…

Predictive control of power electronic systems always requires a suitable model of the plant. Using typical physics-based white box models, a trade-off between model complexity (i.e. accuracy) and computational burden has to be made. This…

Koopman representations aim to learn features of nonlinear dynamical systems (NLDS) which lead to linear dynamics in the latent space. Theoretically, such features can be used to simplify many problems in modeling and control of NLDS. In…

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…

The challenge of finding exact and finite-dimensional Koopman embeddings of nonlinear systems has been largely circumvented by employing data-driven techniques to learn models of different complexities (e.g., linear, bilinear, input…

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…

Constraint handling during tracking operations is at the core of many real-world control implementations and is well understood when dynamic models of the underlying system exist, yet becomes more challenging when data-driven models are…

Online optimal control of quadruped robots would enable them to adapt to varying inputs and changing conditions in real time. A common way of achieving this is linear model predictive control (LMPC), where a quadratic programming (QP)…

Data-driven control methods need to be sample-efficient and lightweight, especially when data acquisition and computational resources are limited -- such as during learning on hardware. Most modern data-driven methods require large datasets…

Autonomous driving technologies have received notable attention in the past decades. In autonomous driving systems, identifying a precise dynamical model for motion control is nontrivial due to the strong nonlinearity and uncertainty in…

The Koopman operator framework holds promise for spectral analysis of nonlinear dynamical systems based on linear operators. Eigenvalues and eigenfunctions of the Koopman operator, so-called Koopman eigenvalues and Koopman eigenfunctions,…

This paper presents a novel identification approach of Koopman models of nonlinear systems with inputs under rather general noise conditions. The method uses deep state-space encoders based on the concept of state reconstructability and an…

Identifying coordinate transformations that make strongly nonlinear dynamics approximately linear is a central challenge in modern dynamical systems. These transformations have the potential to enable prediction, estimation, and control of…

This paper proposes a robust nonlinear observer synthesis method for a population of systems modelled using the Koopman operator. The Koopman operator allows nonlinear systems to be rewritten as infinite-dimensional linear systems. A…

We propose a novel framework for safe navigation in dynamic environments by integrating Koopman operator theory with conformal prediction. Our approach leverages data-driven Koopman approximation to learn nonlinear dynamics and employs…

The Koopman operator lifts nonlinear dynamical systems into a functional space of observables, where the dynamics are linear. In this paper, we provide three different Koopman representations for hybrid systems. The first is specific to…