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cs.RO2026
SACK : Safe Active Continual Koopman Learning for Uncertain Systems with Contractive Guarantees
Chandan Kumar Sah, Rajpal Singh, Jishnu Keshavan
Koopman operator theory provides a powerful framework for representing nonlinear dynamics through a linear operator acting on lifted observables, enabling the use of linear control…
cs.RO2024
Adaptive Koopman Embedding for Robust Control of Complex Nonlinear Dynamical Systems
Rajpal Singh, Chandan Kumar Sah, Jishnu Keshavan
The discovery of linear embedding is the key to the synthesis of linear control techniques for nonlinear systems. In recent years, while Koopman operator theory has become a promin…