相关论文: Data-driven Koopman MPC using Mixed Stochastic-Det…

This work focuses on developing a data-driven framework using Koopman operator theory for system identification and linearization of nonlinear systems for control. Our proposed method presents a deep learning framework with recursive…

Networks are landmarks of many complex phenomena where interweaving interactions between different agents transform simple local rule-sets into nonlinear emergent behaviors. While some recent studies unveil associations between the network…

In this work, we propose a tube-based MPC scheme for state- and input-constrained linear systems subject to dynamic uncertainties characterized by dynamic integral quadratic constraints (IQCs). In particular, we extend the framework of…

Nonlinear differential equations are encountered as models of fluid flow, spiking neurons, and many other systems of interest in the real world. Common features of these systems are that their behaviors are difficult to describe exactly and…

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…

The Koopman framework proposes a linear representation of finite-dimensional nonlinear systems through a generally infinite-dimensional globally linear embedding. Originally, the Koopman formalism has been derived for autonomous systems. In…

We consider stochastic programs conditional on some covariate information, where the only knowledge of the possible relationship between the uncertain parameters and the covariates is reduced to a finite data sample of their joint…

Time-distributed Optimization (TDO) is an approach for reducing the computational burden of Model Predictive Control (MPC). When using TDO, optimization iterations are distributed over time by maintaining a running solution estimate and…

This paper introduces a Koopman-enhanced distributed switched model predictive control (SMPC) framework for safe and scalable navigation of quadrotor unmanned aerial vehicles (UAVs) in dynamic environments with moving obstacles. The…

We propose a distributed model predictive control approach for linear time-invariant systems coupled via dynamics. The proposed approach uses the tube MPC concept for robustness to handle the disturbances induced by mutual interactions…

This paper derives conditions under which Model Predictive Control (MPC) with terminal conditions, using a data-driven surrogate model as a prediction model, asymptotically stabilizes the plant despite approximation errors. In particular,…

This paper presents a data-driven control framework for quadrotor systems that integrates a deep Koopman operator with model predictive control (DK-MPC). The deep Koopman operator is trained on sampled flight data to construct a…

Descriptor systems arise naturally in real-world applications governed by algebraic constraints, such as power networks, robotics and chemical processes. When a descriptor model contains a nontrivial nilpotent block, the discrete-time…

A popular technique used to obtain linear representations of nonlinear systems is the so-called Koopman approach, where the nonlinear dynamics are lifted to a (possibly infinite dimensional) linear space through nonlinear functions called…

Direct data-driven control methods are known to be vulnerable to uncertainty in stochastic systems. In this paper, we propose a new robust data-driven predictive control (DDPC) framework. By analyzing non-unique solutions to behavioral…

This paper proposes an adaptive tube framework for model predictive control (MPC) of discrete-time linear time-invariant systems subject to parametric uncertainty and additive disturbances. In contrast to conventional tube-based MPC schemes…

This paper proposes a robust nonlinear observer synthesis method for a population of systems modelled using the Koopman operator. The Koopman operator allows nonlinear systems to be rewritten as infinite-dimensional linear systems. A…

In this paper, we propose linear operator theoretic framework involving Koopman operator for the data-driven identification of power system dynamics. We explicitly account for noise in the time series measurement data and propose robust…

A new distributed MPC algorithm for the regulation of dynamically coupled subsystems is presented in this paper. The current control action is computed via two robust controllers working in a nested fashion. The inner controller builds a…

Recently, subsynchronous oscillations (SSOs) have emerged frequently worldwide, with the high penetration of renewable power generation in modern power systems. The SSO introduced by renewables has become a prominent new stability problem,…