KoopNet: Joint Learning of Koopman Bilinear Models and Function Dictionaries with Application to Quadrotor Trajectory Tracking
Carl Folkestad,Skylar X. Wei,Joel W. Burdick,Carl Folkestad,Skylar X. Wei,Joel W. Burdick
Nonlinear dynamical effects are crucial to the operation of many agile robotic systems. Koopman-based model learning methods can capture these nonlinear dynamical system effects in higher dimensional lifted bilinear models that are amenable to optimal control. However, standard methods that lift the system state using a fixed function dictionary before model learning result in high dimensional mod...
