Data-Driven Spectral Submanifold Reduction for Nonlinear Optimal Control of High-Dimensional Robots
John Irvin Alora,Mattia Cenedese,Edward Schmerling,George Haller,Marco Pavone,John Irvin Alora,Mattia Cenedese,Edward Schmerling,George Haller,Marco Pavone
Modeling and control of high-dimensional, nonlinear robotic systems remains a challenging task. While various model- and learning-based approaches have been proposed to address these challenges, they broadly lack generalizability to different control tasks and rarely preserve the structure of the dynamics. In this work, we propose a new, data-driven approach for extracting control-oriented, low-di...
