Enhancement for Robustness of Koopman Operator-based Data-driven Mobile Robotic Systems
Lu Shi,Konstantinos Karydis,Lu Shi,Konstantinos Karydis
Koopman operator theory has served as the basis to extract dynamics for nonlinear system modeling and control across settings, including non-holonomic mobile robot control. There is a growing interest in research to derive robustness (and/or safety) guarantees for systems the dynamics of which are extracted via the Koopman operator. In this paper, we propose a way to quantify the prediction error ...
