Showing eess.SYShow all
3 papers · 1 filter
eess.SY2025
Stability of data-driven Koopman MPC with terminal conditions
Irene Schimperna, Lea Bold, Johannes Köhler +2
This paper derives conditions under which Model Predictive Control (MPC) with terminal conditions, using a data-driven surrogate model as a prediction model, asymptotically stabili…
eess.SY2025
Offset-free Nonlinear MPC with Koopman-based Surrogate Models
Irene Schimperna, Lea Bold, Karl Worthmann
In this paper, we design offset-free nonlinear Model Predictive Control (MPC) for surrogate models based on Extended Dynamic Mode Decomposition (EDMD). The model used for predictio…
eess.SY2024
Data-Driven Predictive Control of Nonholonomic Robots Based on a Bilinear Koopman Realization: Data Does Not Replace Geometry
Mario Rosenfelder, Lea Bold, Hannes Eschmann +3
Advances in machine learning and the growing trend towards effortless data generation in real-world systems has led to an increasing interest for data-inferred models and data-base…