相关论文: On Koopman-based surrogate models for non-holonomi…

In this work, we consider a state estimation problem for large-scale nonlinear processes in the absence of first-principles process models. By exploiting process operation data, both process modeling and state estimation design are…

This article presents an original methodology for the prediction of steady turbulent aerodynamic fields. Due to the important computational cost of high-fidelity aerodynamic simulations, a surrogate model is employed to cope with the…

We investigate nonlinear model predictive control (MPC) with terminal conditions in the Koopman framework using extended dynamic mode decomposition (EDMD) to generate a data-based surrogate model for prediction and optimization. We…

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.…

In this paper, we analyze stability of nonlinear model predictive control (MPC) using data-driven surrogate models in the optimization step. First, we establish asymptotic stability of the origin, a controlled steady state, w.r.t. the MPC…

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…

In this paper, we propose a novel controller design approach for unknown nonlinear systems using the Koopman operator. In particular, we use the recently proposed stability- and feedback-oriented extended dynamic mode decomposition…

Adaptive morphogenetic robots adapt their morphology and control policies to meet changing tasks and environmental conditions. Many such systems leverage soft components, which enable shape morphing but also introduce simulation and control…

We consider a class of stochastic programming problems where the implicitly decision-dependent random variable follows a nonparametric regression model with heteroscedastic error. The Clarke subdifferential and surrogate functions are not…

We introduce the use of harmonic analysis to decompose the state space of symmetric robotic systems into orthogonal isotypic subspaces. These are lower-dimensional spaces that capture distinct, symmetric, and synergistic motions. For linear…

Providing efficient and accurate parametrizations for model reduction is a key goal in many areas of science and technology. Here we present a strong link between data-driven and theoretical approaches to achieving this goal. Formal…

Externally driven dense packings of particles can exhibit nonlinear wave phenomena that are not described by effective medium theory or linearized approximate models. Such nontrivial wave responses can be exploited to design…

The Koopman operator is a linear but infinite dimensional operator that governs the evolution of scalar observables defined on the state space of an autonomous dynamical system, and is a powerful tool for the analysis and decomposition of…

Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subject to such fast motions, the complexity of cloth dynamics…

The Koopman and Perron Frobenius transport operators are fundamentally changing how we approach dynamical systems, providing linear representations for even strongly nonlinear dynamics. Although there is tremendous potential benefit of such…

Crash simulations play an essential role in improving vehicle safety, design optimization, and injury risk estimation. Unfortunately, numerical solutions of such problems using state-of-the-art high-fidelity models require significant…

Continuum robots enable dexterous manipulation in constrained environments, but require accurate and efficient models for real-time manipulation and control. Traditional physics-based models can be computationally expensive and may suffer…

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…

Spectral decomposition of the Koopman operator is attracting attention as a tool for the analysis of nonlinear dynamical systems. Dynamic mode decomposition is a popular numerical algorithm for Koopman spectral analysis; however, we often…

Matching dynamical systems, through different forms of conjugacies and equivalences, has long been a fundamental concept, and a powerful tool, in the study and classification of nonlinear dynamic behavior (e.g. through normal forms). In…