Data-driven feedback stabilisation of nonlinear systems: Koopman-based model predictive control
From MaRDI portal
Publication:6163392
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.
Recommendations
- Data-driven nonlinear stabilization using Koopman operator
- Koopman model predictive control of nonlinear dynamical systems
- Linear predictors for nonlinear dynamical systems: Koopman operator meets model predictive control
- Data-driven model predictive control using interpolated Koopman generators
- Robust tube-based model predictive control with Koopman operators
Cites work
- scientific article; zbMATH DE number 6123269 (Why is no real title available?)
- A `universal' construction of Artstein's theorem on nonlinear stabilization
- A data-driven approximation of the koopman operator: extending dynamic mode decomposition
- A universal formula for stabilization with bounded controls
- Applied Koopmanism
- Chebyshev and Fourier spectral methods.
- Constrained model predictive control: Stability and optimality
- Extended dynamic mode decomposition with dictionary learning: A data-driven adaptive spectral decomposition of the Koopman operator
- Generalizing Koopman Theory to Allow for Inputs and Control
- Global Stability Analysis Using the Eigenfunctions of the Koopman Operator
- Isostables, isochrons, and Koopman spectrum for the action-angle representation of stable fixed point dynamics
- Linear predictors for nonlinear dynamical systems: Koopman operator meets model predictive control
- Linearization in the large of nonlinear systems and Koopman operator spectrum
- Linearly recurrent autoencoder networks for learning dynamics
- Lyapunov-Based Model Predictive Control of Nonlinear Systems Subject to Data Losses
- Meshless Galerkin methods using radial basis functions
- Move blocked model predictive control with guaranteed stability and improved optimality using linear interpolation of base sequences
- On convergence of extended dynamic mode decomposition to the Koopman operator
- On dynamic mode decomposition: theory and applications
- On the inherent robustness of optimal and suboptimal nonlinear MPC
- On the use of Fourier averages to compute the global isochrons of (quasi)periodic dynamics
- Predictive control of switched nonlinear systems with scheduled mode transitions
- Spectral properties of dynamical systems, model reduction and decompositions
- Stabilization of nonlinear systems with state and control constraints using Lyapunov-based predictive control
Cited in
(9)- Learning model predictive control of nonlinear systems with time-varying parameters using Koopman operator
- Finite-data error bounds for Koopman-based prediction and control
- Data-driven model reference control with asymptotically guaranteed stability
- Data-driven robust control of unknown MIMO nonlinear system subject to input saturations and disturbances
- Data-driven optimization framework for nonlinear model predictive control
- Data-driven control of nonlinear systems: an on-line direct approach
- Model reduction of dynamical systems with a novel data-driven approach: the RC-HAVOK algorithm
- Data-Driven Stabilization of Nonlinear Polynomial Systems With Noisy Data
- Data-driven safe control via finite-time Koopman identifier
This page was built for publication: Data-driven feedback stabilisation of nonlinear systems: Koopman-based model predictive control
Report a bug (only for logged in users!)Click here to report a bug for this page (MaRDI item Q6163392)
