Results 261 to 270 of about 1,082,543 (312)

Efficient Real2Sim2Real of Continuum Robots Using Deep Reinforcement Learning With Koopman Operator

IEEE transactions on industrial electronics (1982. Print)
Accurate control of continuum robots is challenging, especially in the presence of external disturbances. To address this issue, reinforcement learning (RL) has been increasingly investigated in continuum robot control due to its online policy updating ...
Guanglin Ji, Qian Gao, Yin Xiao, Zhenglong Sun   +3 more
semanticscholar   +1 more source

L∞-error bounds for approximations of the Koopman operator by kernel extended dynamic mode decomposition

arXiv.org
Extended dynamic mode decomposition (EDMD) is a well-established method to generate a data-driven approximation of the Koopman operator for analysis and prediction of nonlinear dynamical systems. Recently, kernel EDMD (kEDMD) has gained popularity due to
Frederik Köhne, Friedrich M. Philipp, M. Schaller, Anton Schiela, K. Worthmann   +4 more
semanticscholar   +1 more source

Deep Neural Koopman Operator-Based Economic Model Predictive Control of Shipboard Carbon Capture System

IEEE Transactions on Control Systems Technology
Shipboard carbon capture is a promising solution to help reduce carbon emissions in international shipping. In this work, we propose a data-driven dynamic modeling and economic predictive control approach within the Koopman framework.
Minghao Han, Xunyuan Yin
semanticscholar   +1 more source

Two Roads to Koopman Operator Theory for Control: Infinite Input Sequences and Operator Families

arXiv.org
The Koopman operator, originally defined for dynamical systems without input, has inspired many applications in control. Yet, the theoretical foundations underpinning this progress in control remain underdeveloped. This paper investigates the theoretical
Masih Haseli, Igor Mezi'c, Jorge Cort'es
semanticscholar   +1 more source

Deep Koopman operator framework for causal discovery in nonlinear dynamical systems

arXiv.org
We use a deep Koopman operator-theoretic formalism to develop a novel causal discovery algorithm, Kausal. Causal discovery aims to identify cause-effect mechanisms for better scientific understanding, explainable decision-making, and more accurate ...
Juan Nathaniel, Carla Roesch, Jatan Buch, Derek DeSantis, Adam Rupe, Kara D. Lamb, Pierre Gentine   +6 more
semanticscholar   +1 more source

From Product Hilbert Spaces to the Generalized Koopman Operator and the Nonlinear Fundamental Lemma

arXiv.org
The generalization of the Koopman operator to systems with control input and the derivation of a nonlinear fundamental lemma are two open problems that play a key role in the development of data-driven control methods for nonlinear systems. Both problems
Mircea Lazar
semanticscholar   +1 more source

KoopmanizingFlows: Diffeomorphically Learning Stable Koopman Operators

2021
Submitted to the 4th Annual Learning for Dynamics & Control ...
Bevanda, Petar, Beier, Max, Kerz, Sebastian, Lederer, Armin, Sosnowski, Stefan, Hirche, Sandra   +5 more
openaire   +1 more source

Dynamic Contrastive Koopman Operator for Tactile Servo of Deformable Linear Objects

IEEE transactions on industrial electronics (1982. Print)
Strong nonlinearities and infinite degrees of freedom pose intractable challenges for the manipulation of deformable linear objects (DLOs). This article proposes a novel modeling method based on a deep Koopman operator for nonlinear systems with high ...
Aohua Liu, Kun Qian, Boyi Duan, Shan Luo
semanticscholar   +1 more source

Online Koopman Operator-Based Feedforward Compensation Strategy for Fast Tool Servos With Robust High-Bandwidth Control

IEEE transactions on industrial electronics (1982. Print)
To improve the servo accuracy for fast tool servo (FTS) applications, this article presents an online Koopman operator-based feedforward compensation strategy and combines it with the robust high-bandwidth controller. The robust high-bandwidth control is
Yixuan Meng, Linlin Li, Xiang-bei Wang, Wei-wei Huang, Edmond Q. Wu, Limin Zhu   +5 more
semanticscholar   +1 more source

Robust Nonlinear Data-Driven Predictive Control for Mixed Vehicle Platoons via Koopman Operator and Reachability Analysis

Transportation Research Part C: Emerging Technologies
Mixed vehicle platoons, comprising connected and automated vehicles (CAVs) and human-driven vehicles (HDVs), hold significant potential for enhancing traffic performance.
Shuai Li, Jiawei Wang, Kaidi Yang, Qing Xu, Jianqiang Wang, Keqiang Li   +5 more
semanticscholar   +1 more source