相关论文: A Simulation Preorder for Koopman-like Lifted Cont…

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…

Sparked by the Willems' fundamental lemma, a class of data-driven control methods has been developed for LTI systems. At the same time, the Koopman operator theory attempts to cast a nonlinear control problem into a standard linear one…

A high order optimal control strategy implemented in the Koopman operator framework is proposed in this work. The new technique exploits the Koopman representation of the solution of the equations of motion to develop an energy optimal…

Data-driven transformations that reformulate nonlinear systems in a linear framework have the potential to enable the prediction, estimation, and control of strongly nonlinear dynamics using linear systems theory. The Koopman operator has…

Despite impressive dexterous manipulation capabilities enabled by learning-based approaches, we are yet to witness widespread adoption beyond well-resourced laboratories. This is likely due to practical limitations, such as significant…

The Koopman operator, originally defined for dynamical systems without input, has inspired many applications in control. Yet, the theoretical foundations underpinning this progress in control remain underdeveloped. This paper investigates…

This paper addresses the problem of nonlinear state estimation for dynamical systems whose governing equations are approximated through Koopman operator liftings. While Koopman-based predictors have demonstrated broad approximation…

This paper addresses a learning problem for nonlinear dynamical systems with incorporating any specified dissipativity property. The nonlinear systems are described by the Koopman operator, which is a linear operator defined on the…

The Koopman operator framework provides a perspective that non-linear dynamics can be described through the lens of linear operators acting on function spaces. As the framework naturally yields linear embedding models, there have been…

The generalization of the Koopman operator to systems with control input and the derivation of a nonlinear fundamental lemma are two open problems that play a key role in the development of data-driven control methods for nonlinear systems.…

Koopman operator theory offers a rigorous treatment of dynamics and has been emerging as an alternative modeling and learning-based control method across various robotics sub-domains. Due to its ability to represent nonlinear dynamics as a…

The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a prominent approach for learning these linear embeddings through…

Data refinement is the standard extension of a refinement relation from programs to datatypes (i.e. a behavioural subtyping relation). Forward/backward simulations provide a tractable method for establishing data refinement, and have been…

We present a method to design a state-feedback controller ensuring exponential stability for nonlinear systems using only measurement data. Our approach relies on Koopman-operator theory and uses robust control to explicitly account for…

This short note gives a new framework for dealing with nonlinear sampled-data systems. We introduce a new idea of lifting, which is well known for linear systems, but not successfully generalized to nonlinear systems. This paper introduces…

This research presents a novel, analytical, Koopman Operator based formulation for position and attitude dynamics which can be used to derive control strategies for underactuated systems. Compared to data driven Koopman based techniques,…

Covariant-contravariant simulation and conformance simulation generalize plain simulation and try to capture the fact that it is not always the case that "the larger the number of behaviors, the better". We have previously studied their…

We present novel coupling schemes for partitioned multi-physics simulation that combine four important aspects for strongly coupled problems: implicit coupling per time step, fast and robust acceleration of the corresponding iterative…

In this paper, we present a new data-driven method for learning stable models of nonlinear systems. Our model lifts the original state space to a higher-dimensional linear manifold using Koopman embeddings. Interestingly, we prove that…

This paper introduces a new behavioral system model with distinct external and internal signals possibly evolving on different time scales. This allows to capture abstraction processes or signal aggregation in the context of control and…