Koopman NMPC: Koopman-based Learning and Nonlinear Model Predictive Control of Control-affine Systems

17 May 2021

Papers citing "Koopman NMPC: Koopman-based Learning and Nonlinear Model Predictive Control of Control-affine Systems"

13 / 13 papers shown

Title
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller Jeonghwan Kim Yunhai Han Harish Ravichandar Sehoon Ha 59 2 0 23 Sep 2024
Koopman Operators in Robot Learning Lu Shi Masih Haseli Giorgos Mamakoukas Daniel Bruder Ian Abraham Todd D. Murphey Jorge Cortes Konstantinos Karydis AI4CE 38 7 0 08 Aug 2024
From Pixels to Torques with Linear Feedback Jeong Hun Lee Sam Schoedel Aditya Bhardwaj Zachary Manchester 39 0 0 26 Jun 2024
Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems Rajpal Singh Chandan Kumar Sah Jishnu Keshavan 23 1 0 15 May 2024
Dynamics Harmonic Analysis of Robotic Systems: Application in Data-Driven Koopman Modelling Daniel Felipe Ordoñez Apraez Vladimir Kostic Giulio Turrisi P. Novelli Carlos Mastalli Claudio Semini Massimiliano Pontil 42 2 0 12 Dec 2023
End-to-End Reinforcement Learning of Koopman Models for Economic Nonlinear Model Predictive Control Daniel Mayfrank Alexander Mitsos Manuel Dahmen 29 3 0 03 Aug 2023
SE(3) Koopman-MPC: Data-driven Learning and Control of Quadrotor UAVs S. Narayanan D. Tellez-Castro S. Sutavani Umesh Vaidya 16 12 0 05 May 2023
Controlled density transport using Perron Frobenius generators Jake Buzhardt Phanindra Tallapragada OT 24 3 0 26 Apr 2023
Vehicular Applications of Koopman Operator Theory -- A Survey W. Manzoor S. Rawashdeh Aliasgar Mohammadi 23 17 0 18 Mar 2023
On Koopman-based surrogate models for non-holonomic robots Lea Bold Hannes Eschmann Mario Rosenfelder Henrik Ebel K. Worthmann 27 2 0 16 Mar 2023
Data-Efficient Model Learning for Control with Jacobian-Regularized Dynamic-Mode Decomposition} Brian E. Jackson Jeonghoon Lee K. Tracy Zachary Manchester 38 4 0 25 Oct 2022
Quadrotor Trajectory Tracking with Learned Dynamics: Joint Koopman-based Learning of System Models and Function Dictionaries C. Folkestad Skylar X. Wei J. W. Burdick 41 6 0 20 Oct 2021
Episodic Learning with Control Lyapunov Functions for Uncertain Robotic Systems Andrew J. Taylor Victor D. Dorobantu Hoang Minh Le Yisong Yue Aaron D. Ames 117 78 0 04 Mar 2019