Koopman System Approximation-Based Optimal Control of Multiple Mobile Robots

This article presents a study of the Koopman operator theory and its application to optimal control of a multiple-mobile-robot system. The operator, while operating on a set of observation functions of the state vector of a nonlinear system, produces a set of dynamic equations that, through a dynami...

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Bibliographic Details
Published in:	IEEE transactions on control systems technology Vol. 33; no. 3; pp. 963 - 979
Main Authors:	Zhao, Qianhong, Tao, Gang
Format:	Journal Article
Language:	English
Published:	New York IEEE 01.05.2025 The Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subjects:	Adaptation models Analytical models Approximation Control systems Control theory Dynamical systems Feedback control Heuristic algorithms Iterative algorithms Koopman operator Linear programming Mathematical models Nonlinear dynamical systems Nonlinear programming Nonlinear systems online learning Optimal control Optimization Parameters Programming Real time Robot control Robot learning robot system Simulation State variable State vectors Utility functions Vectors
ISSN:	1063-6536, 1558-0865
Online Access:	Get full text
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