相关论文: Dictionary-free Koopman Predictive Control for Aut…

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…

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…

MPC is widely used in real-time applications, but practical implementations are typically restricted to convex QP formulations to ensure fast and certified execution. Koopman-based MPC enables QP-based control of nonlinear systems by…

Nonlinearity in dynamics has long been a major challenge in robotics, often causing significant performance degradation in existing control algorithms. For example, the navigation of bipedal robots can exhibit nonlinear behaviors even under…

Achieving rapid and time-deterministic stabilization for complex systems characterized by strong nonlinearities and parametric uncertainties presents a significant challenge. Traditional model-based control relies on precise system models,…

Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based…

This paper presents a data-driven method for constructing a Koopman linear model based on the Direct Encoding (DE) formula. The prevailing methods, Dynamic Mode Decomposition (DMD) and its extensions are based on least squares estimates…

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…

Controlling nonlinear dynamical systems remains a central challenge in a wide range of applications, particularly when accurate first-principle models are unavailable. Data-driven approaches offer a promising alternative by designing…

This paper explores a novel data-driven approach based on recent developments in Koopman operator theory and dynamic mode decomposition (DMD) for modeling signalized intersections. Vehicular flow and queue formation on signalized…

This paper tackles the data-driven approximation of unknown dynamical systems using Koopman-operator methods. Given a dictionary of functions, these methods approximate the projection of the action of the operator on the finite-dimensional…

The Koopman operator and its data-driven approximations, such as extended dynamic mode decomposition (EDMD), are widely used for analysing, modelling, and controlling nonlinear dynamical systems. However, when the true Koopman…

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…

As wind power penetration increases, the wind farms are required by newly released grid codes to provide frequency regulation service. The most critical challenge is how to formulate the dynamic model of wind farm for dynamic control, since…

Co-optimization of both vehicle speed and gear position via model predictive control (MPC) has been shown to offer benefits for fuel-efficient autonomous driving. However, optimizing both the vehicle's continuous dynamics and discrete gear…

In a recent article, we presented a framework to control nonlinear partial differential equations (PDEs) by means of Koopman operator based reduced models and concepts from switched systems. The main idea was to transform a control system…

The design and analysis of optimal control policies for dynamical systems can be complicated by nonlinear dependence in the state variables. Koopman operators have been used to simplify the analysis of dynamical systems by mapping the flow…

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…

Current model-free adaptive control (MFAC) can hardly deal with the time delay problem in multiple-input multiple-output (MIMO) systems. To solve this problem, a novel model-free adaptive predictive control (MFAPC) method is proposed.…

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…