14 citations · 40 across the 20 of their papers we have counts for
7 papers · 1 filter
Risk-Aware Trajectory Optimization and Control for an Underwater Suspended Robotic System
Yuki Origane, Nicolas Hoischen, Tzu-Yuan Huang +3
This paper focuses on the trajectory optimization of an underwater suspended robotic system comprising an uncrewed surface vessel (USV) and an uncrewed underwater vehicle (UUV) for…
Toward Near-Globally Optimal Nonlinear Model Predictive Control via Diffusion Models
Tzu-Yuan Huang, Armin Lederer, Nicolas Hoischen +4
Achieving global optimality in nonlinear model predictive control (NMPC) is challenging due to the non-convex nature of the underlying optimization problem. Since commonly employed…
Nonparametric Control Koopman Operators
Petar Bevanda, Bas Driessen, Lucian Cristian Iacob +3
This paper presents a novel Koopman composition operator representation framework for control systems in reproducing kernel Hilbert spaces (RKHSs) that is free of explicit dictiona…
Learning-based Prescribed-Time Safety for Control of Unknown Systems with Control Barrier Functions
Tzu-Yuan Huang, Sihua Zhang, Xiaobing Dai +4
In many control system applications, state constraint satisfaction needs to be guaranteed within a prescribed time. While this issue has been partially addressed for systems with k…
Towards Data-driven LQR with Koopmanizing Flows
Petar Bevanda, Max Beier, Shahab Heshmati-Alamdari +2
We propose a novel framework for learning linear time-invariant (LTI) models for a class of continuous-time non-autonomous nonlinear dynamics based on a representation of Koopman o…
Distributed Learning Consensus Control for Unknown Nonlinear Multi-Agent Systems based on Gaussian Processes
Zewen Yang, Stefan Sosnowski, Qingchen Liu +3
In this paper, a distributed learning leader-follower consensus protocol based on Gaussian process regression for a class of nonlinear multi-agent systems with unknown dynamics is…
Koopman Operator Dynamical Models: Learning, Analysis and Control
Petar Bevanda, Stefan Sosnowski, Sandra Hirche
The Koopman operator allows for handling nonlinear systems through a (globally) linear representation. In general, the operator is infinite-dimensional - necessitating finite appro…