4 papers
Koopman Operator Based Time-Delay Embeddings and State History Augmented LQR for Periodic Hybrid Systems: Bouncing Pendulum and Bipedal Walking
Chun-Ming Yang, Pranav A. Bhounsule
Time-delay embedding is a technique that uses snapshots of state history over time to build a linear state space model of a nonlinear smooth system. We demonstrate that periodic no…
Koopman Operator Based Linear Model Predictive Control for Quadruped Trotting
Chun-Ming Yang, Pranav A. Bhounsule
Online optimal control of quadruped robots would enable them to adapt to varying inputs and changing conditions in real time. A common way of achieving this is linear model predict…
Koopman Operator Based Linear Model Predictive Control for 2D Quadruped Trotting, Bounding, and Gait Transition
Chun-Ming Yang, Pranav A. Bhounsule
Online optimal control of quadrupedal robots would enable them to plan their movement in novel scenarios. Linear Model Predictive Control (LMPC) has emerged as a practical approach…
Robust Control using Control Lyapunov Function and Hamilton-Jacobi Reachability
Chun-Ming Yang, Pranav A. Bhounsule
The paper presents a robust control technique that combines the Control Lyapunov function and Hamilton-Jacobi Reachability to compute a controller and its Region of Attraction (ROA…