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cs.RO2022★ 1 cited
Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots
John Irvin Alora, Mattia Cenedese, Edward Schmerling +2
Modeling and control of high-dimensional, nonlinear robotic systems remains a challenging task. While various model- and learning-based approaches have been proposed to address the…
math.OC2022
Using Spectral Submanifolds for Nonlinear Periodic Control
Florian Mahlknecht, John Irvin Alora, Shobhit Jain +4
Very high dimensional nonlinear systems arise in many engineering problems due to semi-discretization of the governing partial differential equations, e.g. through finite element m…