相关论文: Koopman-Based Nonlinear Identification and Adaptiv…

In this paper, we systematically derive a finite set of Koopman based observables to construct a lifted linear state space model that describes the rigid body dynamics based on the dual quaternion representation. In general, the Koopman…

Koopman analysis provides a general framework from which to analyze a nonlinear dynamical system in terms of a linear operator acting on an infinite-dimensional observable space. This theoretical framework provides a rigorous underpinning…

Koopman-based neural MPC models generate time-varying dynamics from historical data, but preserve convexity by enforcing that the system operator is independent of the current control input. This conditional independence constraint limits…

Mitigating traffic oscillations in mixed flows of connected automated vehicles (CAVs) and human-driven vehicles (HDVs) is critical for enhancing traffic stability. A key challenge lies in modeling the nonlinear, heterogeneous behaviors of…

This paper proposes a novel adaptive Koopman Model Predictive Control (MPC) framework, termed HPC-AK-MPC, designed to address the dual challenges of time-varying dynamics and safe operation in complex industrial processes. The framework…

This paper presents a model-based reinforcement learning (RL) framework for optimal closed-loop control of nonlinear robotic systems. The proposed approach learns linear lifted dynamics through Koopman operator theory and integrates the…

We propose a data-driven method for controlling the frequency and convergence rate of black-box nonlinear dynamical systems based on the Koopman operator theory. With the proposed method, a policy network is trained such that the…

Advanced autonomous driving systems require accurate vehicle dynamics modeling. However, identifying a precise dynamics model remains challenging due to strong nonlinearities and the coupled longitudinal and lateral dynamic characteristics.…

Model uncertainty of inverter-based resources (IBRs) presents significant challenges for power system control and stability. This work studies secondary frequency regulation in inverter-based power systems using a Data-driven Koopman…

This paper presents a novel Koopman composition operator representation framework for control systems in reproducing kernel Hilbert spaces (RKHSs) that is free of explicit dictionary or input parametrizations. By establishing fundamental…

A Transformer-based Koopman autoencoder is proposed for linearizing Fisher's reaction-diffusion equation. The primary focus of this study is on using deep learning techniques to find complex spatiotemporal patterns in the reaction-diffusion…

In this article, we propose a new filtering algorithm based in the Koopman operator, showing that a nonlinear filtering problem can be seen as an equivalent problem where the dynamics is infinite dimensional, but linear. Using Extended…

Koopman operator theory provides a global linear representation of nonlinear dynamics and underpins many data-driven methods. In practice, however, finite-dimensional feature spaces induced by a user-chosen dictionary are rarely invariant,…

In vehicle trajectory tracking tasks, the simplest approach is the Pure Pursuit (PP) Control. However, this single-point preview tracking strategy fails to consider vehicle model constraints, compromising driving safety. Model Predictive…

This paper presents a novel learning framework to construct Koopman eigenfunctions for unknown, nonlinear dynamics using data gathered from experiments. The learning framework can extract spectral information from the full nonlinear…

This paper proposes a novel formulation of frequency response for nonlinear systems in the Koopman operator framework. This framework is a promising direction for the analysis and synthesis of systems with nonlinear dynamics based on…

Robotic cloth folding is a challenging task, particularly when considering dynamic folding tasks, which aim at folding cloth by fast motions that leverage its dynamics. When subject to such fast motions, the complexity of cloth dynamics…

Modularized Koopman Bilinear Form (M-KBF) is presented to model and predict the transient dynamics of microgrids in the presence of disturbances. As a scalable data-driven approach, M-KBF divides the identification and prediction of the…

Data-driven predictive control methods can provide the constraint handling and optimization of model predictive control (MPC) without first-principles models. Two such methods differ in how they replace the model: Data-enabled predictive…

Spectral decomposition of dynamical systems is a popular methodology to investigate the fundamental qualitative and quantitative properties of these systems and their solutions. In this chapter, we consider a class of nonlinear cooperative…