2 papers
cs.RO2020
Advantages of Bilinear Koopman Realizations for the Modeling and Control of Systems with Unknown Dynamics
Daniel Bruder, Xun Fu, Ram Vasudevan
Nonlinear dynamical systems can be made easier to control by lifting them into the space of observable functions, where their evolution is described by the linear Koopman operator.…
cs.RO2020
Koopman-based Control of a Soft Continuum Manipulator Under Variable Loading Conditions
Daniel Bruder, Xun Fu, R. Brent Gillespie +2
Controlling soft continuum manipulator arms is difficult due to their infinite degrees of freedom, nonlinear material properties, and large deflections under loading. This paper pr…