相关论文: Data-driven feedback stabilization of nonlinear sy…
A methodology is developed to learn a feedback linearization (i.e., nonlinear change of coordinates and input transformation) using a data-driven approach for a single input control-affine nonlinear system with unknown dynamics. We employ…
This paper presents a safe feedback control framework for nonlinear control-affine systems with parametric uncertainty by leveraging adaptive dynamic programming (ADP) with barrier-state augmentation. The developed ADP-based controller…
This paper proposes a method to identify a Koopman model of a feedback-controlled system given a known controller. The Koopman operator allows a nonlinear system to be rewritten as an infinite-dimensional linear system by viewing it in…
Modularized Koopman Bilinear Form (M-KBF) is presented to model and predict the transient dynamics of microgrids in the presence of disturbances. As a scalable data-driven approach, M-KBF divides the identification and prediction of the…
Recent advances in learning-based control leverage deep function approximators, such as neural networks, to model the evolution of controlled dynamical systems over time. However, the problem of learning a dynamics model and a stabilizing…
The present paper treats the identification of nonlinear dynamical systems using Koopman-based deep state-space encoders. Through this method, the usual drawback of needing to choose a dictionary of lifting functions a priori is…
We propose a computationally efficient Learning Model Predictive Control (LMPC) scheme for constrained optimal control of a class of nonlinear systems where the state and input can be reconstructed using lifted outputs. For the considered…
This paper presents a Koopman lifting linearization method that is applicable to nonlinear dynamical systems having both stable and unstable regions. It is known that DMD and other standard data-driven methods face a fundamental difficulty…
We derive a state-space characterization of all dynamic state-feedback controllers that make an equilibrium of a nonlinear input-affine continuous-time system locally exponentially stable. Specifically, any controller obtained as the sum of…
This paper presents a study of the Koopman operator theory and its application to optimal control of a multi-robot system. The Koopman operator, while operating on a set of observation functions of the state vector of a nonlinear system,…
We provide a comprehensive review and practical implementation of a recently developed model predictive control (MPC) framework for controlling unknown systems using only measured data and no explicit model knowledge. Our approach relies on…
In this work, we address the challenge of approximating unknown system dynamics and costs by representing them as a bilinear system using Koopman-based Inverse Optimal Control (IOC). Using optimal trajectories, we construct a bilinear…
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,…
The notion of the relaxed Robust Control Lyapunov Function (relaxed RCLF) is introduced and is exploited for the design of robust feedback stabilizers for nonlinear systems. Particularly, it is shown for systems with input constraints that…
This work provides a framework for nonlinear model-free control of systems with unknown input-output dynamics, but outputs that can be controlled by the inputs. This framework leads to real-time control of the system such that a feasible…
We propose an SDP-based framework to address the stabilization of input delay systems while taking into account dissipative constraints. A key to our approach is the introduction of the concept of parameterized linear dynamical state…
This article addresses the nonadaptive and robust output regulation problem of the general nonlinear output feedback system with error output. The global robust output regulation problem for a class of general output feedback nonlinear…
For the class of nonlinear input-affine systems with polynomial dynamics, we consider the problem of designing an input-to-state stabilizing controller with respect to typical exogenous signals in a feedback control system, such as actuator…
We demonstrate that direct data-driven control of nonlinear systems can be successfully accomplished via a behavioral approach that builds on a Linear Parameter-Varying (LPV) system concept. An LPV data-driven representation is used as a…
In this work, we propose a methodology for the expression of necessary and sufficient Lyapunov-like conditions for the existence of stabilizing feedback laws. The methodology is an extension of the well-known Control Lyapunov Function (CLF)…