相关论文: Quadrotor Trajectory Tracking with Learned Dynamic…

Koopman operator theory has found significant success in learning models of complex, real-world dynamical systems, enabling prediction and control. The greater interpretability and lower computational costs of these models, compared to…

In this paper, we investigate a hybrid scheme that combines nonlinear model predictive control (MPC) and model-based reinforcement learning (RL) for navigation planning of an autonomous model car across offroad, unstructured terrains…

Traditional learning approaches proposed for controlling quadrotors or helicopters have focused on improving performance for specific trajectories by iteratively improving upon a nominal controller, for example learning from demonstrations,…

We present a control method for improved repetitive path following for a ground vehicle that is geared towards long-term operation where the operating conditions can change over time and are initially unknown. We use weighted Bayesian…

In this paper, we introduce a novel approach to centroidal state estimation, which plays a crucial role in predictive model-based control strategies for dynamic legged locomotion. Our approach uses the Koopman operator theory to transform…

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…

The recent increase in data availability and reliability has led to a surge in the development of learning-based model predictive control (MPC) frameworks for robot systems. Despite attaining substantial performance improvements over their…

Recently developed reduced-order modeling techniques aim to approximate nonlinear dynamical systems on low-dimensional manifolds learned from data. This is an effective approach for modeling dynamics in a post-transient regime where the…

We present an approach to construct approximate Koopman-type decompositions for dynamical systems depending on static or time-varying parameters. Our method simultaneously constructs an invariant subspace and a parametric family of…

Model predictive control (MPC) is an effective method for controlling robotic systems, particularly autonomous aerial vehicles such as quadcopters. However, application of MPC can be computationally demanding, and typically requires…

While linear systems are well-understood, no explicit solution for general nonlinear systems exists. A classical approach to make the understanding of linear system available in the nonlinear setting is to represent a nonlinear system by a…

Quadrotors are highly nonlinear dynamical systems that require carefully tuned controllers to be pushed to their physical limits. Recently, learning-based control policies have been proposed for quadrotors, as they would potentially allow…

Flying quadrotors in tight formations is a challenging problem. It is known that in the near-field airflow of a quadrotor, the aerodynamic effects induced by the propellers are complex and difficult to characterize. Although machine…

In data-driven modelling of complex dynamic processes, it is often desirable to combine different classes of models to enhance performance. Examples include coupled models of different fidelities, or hybrid models based on physical…

For the application of MPC design in on-line regulation or tracking control problems, several studies have attempted to develop an accurate model, and realize adequate uncertainty description of linear or non-linear plants of the processes.…

A new approach to data-driven discovery of Koopman eigenfunctions without a pre-defined set of basis functions is proposed. The approach is based on a reference trajectory, for which the Koopman mode amplitudes are first identified, and the…

Long-horizon dynamical prediction is fundamental in robotics and control, underpinning canonical methods like model predictive control. Yet, many systems and disturbance phenomena are difficult to model due to effects like nonlinearity,…

In the reinforcement learning literature, strong theoretical guarantees have been obtained for algorithms applicable to LTI systems. However, in the nonlinear case only weaker results have been obtained for algorithms that mostly rely on…

Nonlinear Negative Imaginary (NI) systems arise in various engineering applications, such as controlling flexible structures and air vehicles. However, unlike linear NI systems, their theory is not well-developed. In this paper, we propose…

Koopman operator theory provides a framework for nonlinear dynamical system analysis and time-series forecasting by mapping dynamics to a space of real-valued measurement functions, enabling a linear operator representation. Despite the…