K-BMPC: Derivative-based Koopman Bilinear Model Predictive Control For Tractor-trailer Trajectory Tracking With Unknown Parameters
Zehao Wang,Han Zhang,Jingchuan Wang,Zehao Wang,Han Zhang,Jingchuan Wang
Nonlinear dynamics bring difficulties to controller design for control-affine systems such as tractor-trailer vehicles, especially when the parameters in the dynamics are unknown. To address this constraint, we propose a derivative-based lifting function construction method, show that the corresponding infinite dimensional Koopman bilinear model over the lifting function is equivalent to the origi...
