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"

12 / 12 papers shown

Title
Learning Koopman Dynamics for Safe Legged Locomotion with Reinforcement Learning-based Controller Jeonghwan Kim Yunhai Han Harish Ravichandar Sehoon Ha 94 2 0 23 Sep 2024
Koopman Operators in Robot Learning Lu Shi Masih Haseli Giorgos Mamakoukas Daniel Bruder Ian Abraham Todd Murphey Jorge Cortes Konstantinos Karydis AI4CE 120 8 0 08 Aug 2024
From Pixels to Torques with Linear Feedback Jeong Hun Lee Sam Schoedel Aditya Bhardwaj Zachary Manchester 67 0 0 26 Jun 2024
Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems Rajpal Singh Chandan Kumar Sah Jishnu Keshavan 62 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 86 3 0 12 Dec 2023
End-to-End Reinforcement Learning of Koopman Models for Economic Nonlinear Model Predictive Control Daniel Mayfrank Alexander Mitsos Manuel Dahmen 71 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 81 14 0 05 May 2023
Controlled density transport using Perron Frobenius generators Jake Buzhardt Phanindra Tallapragada OT 34 3 0 26 Apr 2023
Vehicular Applications of Koopman Operator Theory -- A Survey W. Manzoor S. Rawashdeh Aliasgar Mohammadi 53 18 0 18 Mar 2023
On Koopman-based surrogate models for non-holonomic robots Lea Bold Hannes Eschmann Mario Rosenfelder Henrik Ebel K. Worthmann 99 3 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 86 5 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 75 6 0 20 Oct 2021