Model predictive control of vehicle dynamics based on the Koopman operator with extended dynamic mode decomposition

Skup podataka

• Autor: Šandor Ileš
• Autor: Marko Švec
• Autor: Jadranko Matuško
• Znanstveno / umjetničko područje, polje i grana: TEHNIČKE ZNANOSTI; Elektrotehnika; Elektrostrojarstvo

Sažetak (engleski)

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.

• Metodologija (engleski): Model identification and predictive controller design are designed using Matlab/Simulink environment.
• Ključne riječi (engleski): Model predictive control Koopman operator Bicycle model of vehicle
• Jezik: engleski
• URN:NBN: urn:nbn:hr:168:985912
• Datum objave: 2024-03-27
• Projekt: Šifra: UIP-2019-04-6487; Naziv (hrvatski): Prediktivno upravljanje dinamikom vozila; Naziv (engleski): Predictive vehicle dynamics control; Kratica: PVDC; Voditelj: Šandor Ileš; Pravna nadležnost: Hrvatska; Financijer: HRZZ; Linija financiranja: UIP
• Vanjski povezani objekt: Nadopunjava: DOI 10.1109/ICIT46573.2021.9453623
• Izdavač: Fakultet elektrotehnike i računarstva; Faculty of Electrical Engineering and Computing
• Prava pristupa: Otvoreni pristup
• Javna napomena (hrvatski): Podaci su dostupni i na https://github.com/markosvec/bicycle-model-koopman
• Javna napomena (engleski): The source code is also available in a public repository: https://github.com/markosvec/bicycle-model-koopman
• Datum i vrijeme pohrane: 2024-03-27 19:40:18