Data-driven feedback stabilisation of nonlinear systems: Koopman-based model predictive control

DOI10.1080/00207179.2021.2013541zbMATH Open1527.93346arXiv2005.09741OpenAlexW4200168723MaRDI QIDQ6163392FDOQ6163392

Authors: Sang Hwan Son 

Publication date: 26 June 2023

Published in: International Journal of Control (Search for Journal in Brave)

Abstract: In this work, a predictive control framework is presented for feedback stabilization of nonlinear systems. To achieve this, we integrate Koopman operator theory with Lyapunov-based model predictive control (LMPC). The main idea is to transform nonlinear dynamics from state-space to function space using Koopman eigenfunctions - for control affine systems this results in a bilinear model in the (lifted) function space. Then, a predictive controller is formulated in Koopman eigenfunction coordinates which uses an auxiliary Control Lyapunov Function (CLF) based bounded controller as a constraint to ensure stability of the Koopman system in the function space. Provided there exists a continuously differentiable inverse mapping between the original state-space and (lifted) function space, we show that the designed controller is capable of translating the feedback stabilizability of the Koopman bilinear system to the original nonlinear system. Remarkably, the feedback control design proposed in this work remains completely data-driven and does not require any explicit knowledge of the original system. Furthermore, due to the bilinear structure of the Koopman model, seeking a CLF is no longer a bottleneck for LMPC. Benchmark numerical examples demonstrate the utility of the proposed feedback control design.

Full work available at URL: https://arxiv.org/abs/2005.09741

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zbMATH Keywords

model predictive controlKoopman operatorcontrol Lyapunov functionsfeedback stabilisation

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Stabilization of systems by feedback (93D15) Operator-theoretic methods (93B28) Model predictive control (93B45)

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Cited In (9)

• Data-driven model reference control with asymptotically guaranteed stability
• Finite-data error bounds for Koopman-based prediction and control
• Data-driven robust control of unknown MIMO nonlinear system subject to input saturations and disturbances
• Data-driven optimization framework for nonlinear model predictive control
• Model reduction of dynamical systems with a novel data-driven approach: the RC-HAVOK algorithm
• Data-driven control of nonlinear systems: an on-line direct approach
• Data-Driven Stabilization of Nonlinear Polynomial Systems With Noisy Data
• Data-driven safe control via finite-time Koopman identifier
• Learning model predictive control of nonlinear systems with time-varying parameters using Koopman operator

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