| Title (english) | Model predictive control of vehicle dynamics based on the Koopman operator with extended dynamic mode decomposition |
| Author | Šandor Ileš |
| Author | Marko Švec |
| Author | Jadranko Matuško |
| Scientific / art field, discipline and subdiscipline | TECHNICAL SCIENCES Electrical Engineering Electromechanical Engineering |
| Abstract (english) | A novel approach to solving the problem of controlling nonlinear systems is based on the so-called Koopman operator. The Koopman operator is a linear operator that governs the evolution of scalar functions (often referred to as observables) along the trajectories of a given nonlinear dynamical system and is a powerful tool for the analysis and decomposition of nonlinear dynamical systems. The main idea is to lift the nonlinear dynamics to a higher dimensional space where its evolution can be described with a linear system model. This dataset is used to create a model predictive controller for vehicle dynamics based on the Kooopman operator decomposition of vehicle dynamics with Extended Dynamic Mode Decomposition (EDMD) method. |
| Methods (english) | Model identification and predictive controller design are designed using Matlab/Simulink environment. |
| Keywords (english) | |
| Language | english |
| URN:NBN | urn:nbn:hr:168:985912 |
| Publication | 2024-03-27 |
| Project | Number: UIP-2019-04-6487 Title (croatian): Prediktivno upravljanje dinamikom vozila Title (english): Predictive vehicle dynamics control Acronym: PVDC Leader: Šandor Ileš Jurisdiction: Croatia Funding stream: UIP |
| External related object | Is supplemented by: DOI 10.1109/ICIT46573.2021.9453623 |
| Publisher | Fakultet elektrotehnike i računarstva Faculty of Electrical Engineering and Computing |
| Access conditions | Open access |
| Terms of use |  |
| Public note (croatian) | Podaci su dostupni i na https://github.com/markosvec/bicycle-model-koopman |
| Public note (english) | The source code is also available in a public repository: https://github.com/markosvec/bicycle-model-koopman |
| Created on | 2024-03-27 19:40:18 |
