2 papers
eess.SY2021
Physics-Based Causal Lifting Linearization of Nonlinear Control Systems Underpinned by the Koopman Operator
Nicholas S. Selby, Filippos E. Sotiropoulos, H. Harry Asada
Methods for constructing causal linear models from nonlinear dynamical systems through lifting linearization underpinned by Koopman operator and physical system modeling theory are…
cs.RO2021
Dynamic Modeling of Bucket-Soil Interactions Using Koopman-DFL Lifting Linearization for Model Predictive Contouring Control of Autonomous Excavators
Filippos E. Sotiropoulos, H. Harry Asada
A lifting-linearization method based on the Koopman operator and Dual Faceted Linearization is applied to the control of a robotic excavator. In excavation, a bucket interacts with…