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 ...