相关论文: Deep Koopman Operator-Informed Safety Command Gove…

Koopman operator describes evolution of observables in the phase space, which could be used to extract characteristic dynamical features of a nonlinear system. Here, we show that it is possible to carry out interesting symbolic partitions…

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…

In recent years there has been a considerable drive towards data-driven analysis, discovery and control of dynamical systems. To this end, operator theoretic methods, namely, Koopman operator methods have gained a lot of interest. In…

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…

Soft robots are challenging to model due in large part to the nonlinear properties of soft materials. Fortunately, this softness makes it possible to safely observe their behavior under random control inputs, making them amenable to…

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…

This paper describes the optimal selection of a control policy to program the steady state of controlled nonlinear systems with hyperbolic fixed points. This work is motivated by the field of synthetic biology, in which saddle points are…

This work presents a data-driven Koopman operator-based modeling method using a model averaging technique. While the Koopman operator has been used for data-driven modeling and control of nonlinear dynamics, it is challenging to accurately…

Catheter-based interventions are widely used for the diagnosis and treatment of cardiac diseases. Recently, robotic catheters have attracted attention for their ability to improve precision and stability over conventional manual approaches.…

Effective and causal observable functions for low-order lifting linearization of nonlinear controlled systems are learned from data by using neural networks. While Koopman operator theory allows us to represent a nonlinear system as a…

A turbocharger plays an essential part in reducing emissions and increasing the fuel efficiency of road vehicles. The pulsating flow of exhaust gases, along with high heat exchange from the turbocharger casing, makes developing…

System representations inspired by the infinite-dimensional Koopman operator (generator) are increasingly considered for predictive modeling. Due to the operator's linearity, a range of nonlinear systems admit linear predictor…

The Koopman operator framework enables global analysis of nonlinear systems through its inherent linearity. This study aims to clarify spectral properties of the Koopman operators for nonlinear systems with control inputs. To this end, we…

This paper proposes a unified family of learnable Koopman operator parameterizations that integrate linear dynamical systems theory with modern deep learning forecasting architectures. We introduce four learnable Koopman…

This paper presents a class of linear predictors for nonlinear controlled dynamical systems. The basic idea is to lift the nonlinear dynamics into a higher dimensional space where its evolution is approximately linear. In an uncontrolled…

This paper contributes a theoretical framework for data-driven feedback linearization of nonlinear control-affine systems. We unify the traditional geometric perspective on feedback linearization with an operator-theoretic perspective…

Koopman operators model nonlinear dynamics as a linear dynamic system acting on a nonlinear function as the state. This nonstandard state is often called a Koopman observable and is usually approximated numerically by a superposition of…

The Koopman operator has become an essential tool for data-driven approximation of dynamical (control) systems, e.g., via extended dynamic mode decomposition. Despite its popularity, convergence results and, in particular, error bounds are…

Data-driven models for nonlinear dynamical systems based on approximating the underlying Koopman operator or generator have proven to be successful tools for forecasting, feature learning, state estimation, and control. It has become well…

We develop a new generalization of Koopman operator theory that incorporates the effects of inputs and control. Koopman spectral analysis is a theoretical tool for the analysis of nonlinear dynamical systems. Moreover, Koopman is intimately…