Results 271 to 280 of about 1,063,107 (310)

Time-certified Input-constrained NMPC via Koopman Operator

IFAC-PapersOnLine
Determining solving-time certificates of nonlinear model predictive control (NMPC) implementations is a pressing requirement when deploying NMPC in production environments.
Liang Wu, Krystian Ganko, Richard D. Braatz   +2 more
semanticscholar   +1 more source

KOROL: Learning Visualizable Object Feature with Koopman Operator Rollout for Manipulation

Conference on Robot Learning
Learning dexterous manipulation skills presents significant challenges due to complex nonlinear dynamics that underlie the interactions between objects and multi-fingered hands.
Hongyi Chen, Abulikemu Abuduweili, Aviral Agrawal, Yunhai Han, H. Ravichandar, Changliu Liu, Jeffrey Ichnowski   +6 more
semanticscholar   +1 more source

Data-Driven Control Synthesis Using Koopman Operator: A Robust Approach

American Control Conference
This paper presents a data-driven control design method for nonlinear systems using the Koopman operator framework. The Koopman operator lifts nonlinear dynamics to a higher-dimensional space, where observable functions evolve linearly.
Mert Eyüboğlu, Nathan Powell, Alireza Karimi   +2 more
semanticscholar   +1 more source

The extended Koopmans' theorem Fock operator

International Journal of Quantum Chemistry, 1987
AbstractBy expanding the wave function of a system of N particles in terms of products of functions of one and (N‐1) particles, the one‐particle, nonlocal operator F̂EKT (extended Koopmans' theorem) is determined. It is shown that although this operator is nonhermitian, its eigenvalues and eigenfunctions represent the ionization energies and occupied ...
J. Mauricio O. Matos, Orville W. Day
openaire   +2 more sources

Koopman Operator-Based Integrated Guidance and Control for Strap-Down High-Speed Missiles

IEEE Transactions on Control Systems Technology
This work focuses on addressing the challenges of integrated guidance and control (IGC) for strap-down high-speed missiles with nonlinearities and field-of-view constraints.
Min Zhou, Mingfei Lu, Guanjie Hu, Zongyi Guo, Jianguo Guo   +4 more
semanticscholar   +1 more source

Data-driven optimal control of unknown nonlinear dynamical systems using the Koopman operator

Conference on Learning for Dynamics & Control
Nonlinear optimal control is vital for numerous applications but remains challenging for unknown systems due to the difficulties in accurately modelling dynamics and handling computational demands, particularly in high-dimensional settings.
Zhexuan Zeng, Rui Zhou, Yiming Meng, Jun Liu   +3 more
semanticscholar   +1 more source

Performance-Oriented Data-Driven Control: Fusing Koopman Operator and MPC-Based Reinforcement Learning

IEEE Control Systems Letters
This letter develops the machinery of Koopman-based Model Predictive Control (KMPC) design, where the Koopman derived model is unable to capture the real nonlinear system perfectly.
Hossein Nejatbakhsh Esfahani, Umesh Vaidya, Javad Mohammadpour Velni   +2 more
semanticscholar   +1 more source

Resilient Formation Control With Koopman Operator for Networked NMRs Under Denial-of-Service Attacks

IEEE Transactions on Systems, Man, and Cybernetics: Systems
This article presents a resilient formation control framework for networked nonholonomic mobile robots (NMRs) that enables long-time recovery abilities subject to denial-of-service (DoS) attacks by taking advantage of the Koopman operator.
Weiwei Zhan, Zhiqiang Miao, Hui Zhang, Yanjie Chen, Zhengguang Wu, Wei He, Yaonan Wang   +6 more
semanticscholar   +1 more source

Optimal Control of Nonlinear Systems with Input and State Constraints Using Koopman Operator

American Control Conference
To address the challenges of infinite-time horizon optimal control in nonlinear systems with constraints, this work presents a constrained optimization framework.
Yujia Wang, Zhe Wu
semanticscholar   +1 more source

Uncertainty Modelling and Robust Observer Synthesis using the Koopman Operator

arXiv.org
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.
Steven Dahdah, James Richard Forbes
semanticscholar   +1 more source