相关论文: Data Driven Control with Learned Dynamics: Model-B…

We develop a data-driven, model-free approach for the optimal control of the dynamical system. The proposed approach relies on the Deep Neural Network (DNN) based learning of Koopman operator for the purpose of control. In particular, DNN…

This paper presents a learning-based approach for centralized position control of Tendon Driven Continuum Robots (TDCRs) using Deep Reinforcement Learning (DRL), with a particular focus on the Sim-to-Real transfer of control policies. The…

We present differentiable predictive control (DPC) as a deep learning-based alternative to the explicit model predictive control (MPC) for unknown nonlinear systems. In the DPC framework, a neural state-space model is learned from…

This paper presents a data-learned linear Koopman embedding of nonlinear networked dynamics and uses it to enable real-time model predictive emergency voltage control in a power network. The approach involves a novel data-driven…

We present a data-driven shared control algorithm that can be used to improve a human operator's control of complex dynamic machines and achieve tasks that would otherwise be challenging, or impossible, for the user on their own. Our method…

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…

This paper presents a generalizable methodology for data-driven identification of nonlinear dynamics that bounds the model error in terms of the prediction horizon and the magnitude of the derivatives of the system states. Using…

A data-efficient learning-based control design method is proposed in this paper. It is based on learning a system dynamics model that is then leveraged in a two-level procedure. On the higher level, a simple but powerful optimization…

We use Koopman theory for data-driven model reduction of nonlinear dynamical systems with controls. We propose generic model structures combining delay-coordinate encoding of measurements and full-state decoding to integrate reduced Koopman…

We present a novel approach to shared control of human-machine systems. Our method assumes no a priori knowledge of the system dynamics. Instead, we learn both the dynamics and information about the user's interaction from observation…

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.…

Deep Reinforcement Learning (DRL) techniques have received significant attention in control and decision-making algorithms. Most applications involve complex decision-making systems, justified by the algorithms' computational power and…

This paper extends the Willems' Fundamental Lemma to nonlinear control-affine systems using the Koopman bilinear realization. This enables us to bypass the Extended Dynamic Mode Decomposition (EDMD)-based system identification step in…

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…

We present a comparison between two approaches to modelling hyperelastic material behaviour using data. The first approach is a novel approach based on Data-driven Computational Mechanics (DDCM) that completely bypasses the definition of a…

This paper addresses the problem of learning the optimal control policy for a nonlinear stochastic dynamical system with continuous state space, continuous action space and unknown dynamics. This class of problems are typically addressed in…

This study presents an innovative approach to Model Predictive Control (MPC) by leveraging the powerful combination of Koopman theory and Deep Reinforcement Learning (DRL). By transforming nonlinear dynamical systems into a…

This paper introduces a method for data-driven control based on the Koopman operator model predictive control. Unlike exiting approaches, the method does not require a dictionary and incorporates a nonlinear input transformation, thereby…

Koopman-based learning methods can potentially be practical and powerful tools for dynamical robotic systems. However, common methods to construct Koopman representations seek to learn lifted linear models that cannot capture nonlinear…

Autonomous driving has attracted lots of attention in recent years. An accurate vehicle dynamics is important for autonomous driving techniques, e.g. trajectory prediction, motion planning, and control of trajectory tracking. Although…