17 papers · 1 filter
Koopman operator theory: fundamentals, control, and applications
Igor MeziÄ, Jorge Cortés, Karl Worthmann +2
The Koopman operator has gained considerable attention due to its ability to provide a global linear representation of highly complex dynamical systems. The operator describes nonl…
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…
A model-free approach to control barrier functions for higher-order systems
Lukas Lanza, Johannes Köhler, Dario Dennstädt +2
Control barrier functions (CBFs) are a widely applied modular tool to ensure safe operation of nonlinear dynamical control systems. However, for their construction accurate knowled…
Excitation of control-affine systems and Koopman error bounds
Philipp Schmitz, Lea Bold, Friedrich M. Philipp +4
The Koopman operator and extended dynamic mode decomposition (EDMD) as a data-driven technique for its approximation have attracted considerable attention as a key tool for modelin…
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…
Towards Polynomial Immersion of Port-Hamiltonian Systems
Mohammad Itani, Manuel Schaller, Karl Worthmann +1
Port-Hamiltonian (pH) systems offer a highly structured and energy-based modular framework for control systems. Many pH systems exhibit non-polynomial non-linearities. We consider…