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cs.RO2021★ 1 cited
Quadrotor Trajectory Tracking with Learned Dynamics: Joint Koopman-based Learning of System Models and Function Dictionaries
Carl Folkestad, Skylar X. Wei, Joel W. Burdick
Nonlinear dynamical effects are crucial to the operation of many agile robotic systems. Koopman-based model learning methods can capture these nonlinear dynamical system effects in…
cs.RO2021
Koopman NMPC: Koopman-based Learning and Nonlinear Model Predictive Control of Control-affine Systems
Carl Folkestad, Joel W. Burdick
Koopman-based learning methods can potentially be practical and powerful tools for dynamical robotic systems. However, common methods to construct Koopman representations seek to l…