相关论文: Deep Neural Networks with Koopman Operators for Mo…

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…

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…

Deep learning is revolutionizing weather forecasting, with new data-driven models achieving accuracy on par with operational physical models for medium-term predictions. However, these models often lack interpretability, making their…

The highly nonlinear dynamics of vehicles present a major challenge for the practical implementation of optimal and Model Predictive Control (MPC) approaches in path planning and following. Koopman operator theory offers a global linear…

Over the last few years, several works have proposed deep learning architectures to learn dynamical systems from observation data with no or little knowledge of the underlying physics. A line of work relies on learning representations where…

Koopman operator has been recognized as an ongoing data-driven modeling method for vehicle dynamics which lifts the original state space into a high-dimensional linear state space. The deep neural networks (DNNs) are verified to be useful…

Koopman operator theory has proven to be a promising approach to nonlinear system identification and global linearization. For nearly a century, there had been no efficient means of calculating the Koopman operator for applied engineering…

Koopman operator theory is a kind of data-driven modelling approach that accurately captures the nonlinearities of mechatronic systems such as vehicles against physics-based methods. However, the infinite-dimensional Koopman operator is…

Koopman operator theory, a powerful framework for discovering the underlying dynamics of nonlinear dynamical systems, was recently shown to be intimately connected with neural network training. In this work, we take the first steps in…

The Koopman operator has recently garnered much attention for its value in dynamical systems analysis and data-driven model discovery. However, its application has been hindered by the computational complexity of extended dynamic mode…

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.…

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…

Nonlinear differential equations are encountered as models of fluid flow, spiking neurons, and many other systems of interest in the real world. Common features of these systems are that their behaviors are difficult to describe exactly and…

The Koopman operator allows for handling nonlinear systems through a (globally) linear representation. In general, the operator is infinite-dimensional - necessitating finite approximations - for which there is no overarching framework.…

Recently Koopman operator has become a promising data-driven tool to facilitate real-time control for unknown nonlinear systems. It maps nonlinear systems into equivalent linear systems in embedding space, ready for real-time linear control…

This paper presents the results of identification of vehicle dynamics using the Koopman operator. The basic idea is to transform the state space of a nonlinear system (a car in our case) to a higher-dimensional space, using so-called basis…

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…

Finding an embedding space for a linear approximation of a nonlinear dynamical system enables efficient system identification and control synthesis. The Koopman operator theory lays the foundation for identifying the nonlinear-to-linear…

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.…

Soft robots are challenging to model and control as inherent non-linearities (e.g., elasticity and deformation), often requires complex explicit physics-based analytical modeling (e.g., a priori geometric definitions). While machine…