相关论文: Reduced Order Data-driven Twin Models for Nonlinea…

Nonlinear dynamical systems with input delays pose significant challenges for prediction, estimation, and control due to their inherent complexity and the impact of delays on system behavior. Traditional linear control techniques often fail…

We propose a noise-robust learning framework for the Koopman operator of nonlinear dynamical systems, with guaranteed long-term stability and improved model performance for better model-based predictive control tasks. Unlike some existing…

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…

Nonlinear coupled systems are ubiquitous in science and engineering. The analysis and modeling of such systems is challenging due to their high dimensionality and complex interactions among subsystems. In recent years, operator-theoretic…

In this paper, we introduce a modular deep neural network (DNN) framework for data-driven reduced order modeling of dynamical systems relevant to fluid flows. We propose various deep neural network architectures which numerically predict…

Predictive control of power electronic systems always requires a suitable model of the plant. Using typical physics-based white box models, a trade-off between model complexity (i.e. accuracy) and computational burden has to be made. This…

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 Koopman operator provides a powerful framework for data-driven analysis of dynamical systems. In the last few years, a wealth of numerical methods providing finite-dimensional approximations of the operator have been proposed (e.g.…

The Koopman operator approach for data-driven control design of a nonlinear system is on the rise because of its capability to capture the behaviours of global dynamics. However, the measurement noises of inputs and outputs will bias the…

The Koopman operator lifts nonlinear dynamical systems into a functional space of observables, where the dynamics are linear. In this paper, we provide three different Koopman representations for hybrid systems. The first is specific to…

The Koopman operator provides a powerful framework for representing the dynamics of general nonlinear dynamical systems. However, existing data-driven approaches to learning the Koopman operator rely on batch data. In this work, we present…

Koopman-based learning methods can potentially be practical and powerful tools for dynamical robotic systems. However, common methods to construct Koopman representations seek to learn lifted linear models that cannot capture nonlinear…

In this work, we address the challenge of efficiently modeling dynamical systems in process engineering. We use reduced-order model learning, specifically operator inference. This is a non-intrusive, data-driven method for learning…

Data-driven safety verification of robotic systems often relies on zonotopic reachability analysis due to its scalability and computational efficiency. However, for nonlinear systems, these methods can become overly conservative, especially…

This paper presents an optic flow-guided approach for achieving soft landings by resource-constrained unmanned aerial vehicles (UAVs) on dynamic platforms. An offline data-driven linear model based on Koopman operator theory is developed to…

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 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 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…

In this paper, we provide an algorithm for online computation of Koopman operator in real-time using streaming data. In recent years, there has been an increased interest in data-driven analysis of dynamical systems, with operator theoretic…

We develop a novel deep learning technique, termed Deep Orthogonal Decomposition (DOD), for dimensionality reduction and reduced order modeling of parameter dependent partial differential equations. The approach consists in the construction…