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…