Robust tube-based model predictive control with Koopman operators

DOI10.1016/j.automatica.2021.110114zbMath1482.93180arXiv2108.13011OpenAlexW4205769419MaRDI QIDQ2071959

Xinglong Zhang, Xin Xu, Shuyou Yu, Wei Pan, Riccardo Scattolini

Publication date: 31 January 2022

Published in: Automatica (Search for Journal in Brave)

Full work available at URL: https://arxiv.org/abs/2108.13011

zbMATH Keywords

convergencerobustnessnonlinear systemsmodel predictive controlKoopman operators

Mathematics Subject Classification ID

Sensitivity (robustness) (93B35) Nonlinear systems in control theory (93C10) Operator-theoretic methods (93B28) Model predictive control (93B45)

Related Items

On the solution of Caputo fractional high-order three-point boundary value problem with applications to optimal control ⋮ Sampling‐based 3‐D line‐of‐sight PWA model predictive control for autonomous rendezvous and docking with a tumbling target ⋮ Adaptive data-driven fault-tolerant control for nonlinear systems: Koopman-based virtual actuator approach ⋮ A hierarchical control scheme for multiple aerial vehicle transportation systems with uncertainties and state/input constraints

Uses Software

• YALMIP

Cites Work

• A data-driven approximation of the koopman operator: extending dynamic mode decomposition
• On the inverse function theorem
• A hierarchical multi-rate MPC scheme for interconnected systems
• On convergence of extended dynamic mode decomposition to the Koopman operator
• Robust model predictive control of constrained linear systems with bounded disturbances
• Linear predictors for nonlinear dynamical systems: Koopman operator meets model predictive control
• Constrained model predictive control: Stability and optimality
• Robust multi-rate predictive control using multi-step prediction models learned from data
• Data-driven approximation of the Koopman generator: model reduction, system identification, and control
• Koopman operator-based model reduction for switched-system control of PDEs
• Tube-based robust nonlinear model predictive control
• The Local Stabilizability Problem for Nonlinear Systems
• Generalized Gradients and Applications
• Generalizing Koopman Theory to Allow for Inputs and Control
• Learning Model Predictive Control for Iterative Tasks. A Data-Driven Control Framework
• Data-Driven Model Predictive Control using Interpolated Koopman Generators
• Adaptive Stochastic MPC Under Time-Varying Uncertainty
• Min-max control of constrained uncertain discrete-time linear systems
• Unnamed Item
• Unnamed Item