Koopman Data-Driven Predictive Control with Robust Stability and Recursive Feasibility Guarantees

arXiv:2405.01292v1 Announce Type: cross
Abstract: In this paper, we consider the design of data-driven predictive controllers for nonlinear systems from input-output data via linear-in-control input Koopman lifted models. Instead of identifying and simulating a Koopman model to predict future outputs, we design a subspace predictive controller in the Koopman space. This allows us to learn the observables minimizing the multi-step output prediction error of the Koopman subspace predictor, preventing the propagation of prediction errors. To avoid losing feasibility of our …

abstract arxiv control cs.lg cs.sy data data-driven design eess.sy future input-output linear math.oc paper predictive recursive robust stability systems type via