11 papers
Koopman meets input-output data: Data-driven output-feedback control of nonlinear systems with closed-loop guarantees
Robin Strässer, Julian Berberich, Manuel Schaller +2
Data-driven control of nonlinear systems from input-output measurements remains a fundamental challenge, as existing approaches with rigorous closed-loop guarantees predominantly r…
End-to-end guarantees for indirect data-driven control of bilinear systems with finite stochastic data
Nicolas Chatzikiriakos, Robin Strässer, Frank Allgöwer +1
In this paper we propose an end-to-end algorithm for indirect data-driven control for bilinear systems with stability guarantees. We consider the case where the collected i.i.d. da…
An overview of Koopman-based control: From error bounds to closed-loop guarantees
Robin Strässer, Karl Worthmann, Igor MeziÄ +3
Controlling nonlinear dynamical systems remains a central challenge in a wide range of applications, particularly when accurate first-principle models are unavailable. Data-driven…
SafEDMD: A Koopman-based data-driven controller design framework for nonlinear dynamical systems
Robin Strässer, Manuel Schaller, Karl Worthmann +2
The Koopman operator serves as the theoretical backbone for machine learning of dynamical control systems, where the operator is heuristically approximated by extended dynamic mode…
Koopman-based control using sum-of-squares optimization: Improved stability guarantees and data efficiency
Robin Strässer, Julian Berberich, Frank Allgöwer
In this paper, we propose a novel controller design approach for unknown nonlinear systems using the Koopman operator. In particular, we use the recently proposed stability- and fe…
Koopman-based control of nonlinear systems with closed-loop guarantees
Robin Strässer, Julian Berberich, Manuel Schaller +2
In this paper, we provide a tutorial overview and an extension of a recently developed framework for data-driven control of unknown nonlinear systems with rigorous closed-loop guar…