Matches in SemOpenAlex for { <https://semopenalex.org/work/W3207652813> ?p ?o ?g. }
Showing items 1 to 99 of
99
with 100 items per page.
- W3207652813 abstract "In this paper, we systematically derive a finite set of Koopman based observables to construct a lifted linear state space model that describes the rigid body dynamics based on the dual quaternion representation. Methods such as the Extended Dynamic Mode Decomposition (EDMD) can compute finite approximations of the Koopman operator for different classes of problems but in general, they cannot offer guarantees that the computed approximation of the nonlinear dynamics is sufficiently accurate unless an appropriate set of observables is available. State-of-the-art methods in the field compute approximations of the observables by using neural networks, standard radial basis functions (RBFs), polynomials or heuristic approximations of these functions. However, these observables might not yield a sufficiently accurate approximation of the dynamics. In contrast, we first show the pointwise convergence of the derived observable functions to zero. Next, we use the derived observables in EDMD to compute the lifted linear state and input matrices for the rigid body dynamics. Finally, we show that an LQR type (linear) controller, which is designed based on the truncated linear state space model, can steer the rigid body to a desired state while its performance is commensurate with that of a nonlinear controller. The efficacy of our approach is demonstrated through numerical simulations." @default.
- W3207652813 created "2021-10-25" @default.
- W3207652813 creator A5031928442 @default.
- W3207652813 creator A5090183475 @default.
- W3207652813 date "2022-06-08" @default.
- W3207652813 modified "2023-10-16" @default.
- W3207652813 title "Koopman Operator Based Modeling and Control of Rigid Body Motion Represented by Dual Quaternions" @default.
- W3207652813 cites W1689658419 @default.
- W3207652813 cites W1983473126 @default.
- W3207652813 cites W1994268222 @default.
- W3207652813 cites W1998511116 @default.
- W3207652813 cites W2046414826 @default.
- W3207652813 cites W2050048613 @default.
- W3207652813 cites W2060465646 @default.
- W3207652813 cites W2098382127 @default.
- W3207652813 cites W2104899332 @default.
- W3207652813 cites W2128081714 @default.
- W3207652813 cites W222604134 @default.
- W3207652813 cites W2561027863 @default.
- W3207652813 cites W2766388929 @default.
- W3207652813 cites W2777417212 @default.
- W3207652813 cites W2892564416 @default.
- W3207652813 cites W2963765797 @default.
- W3207652813 cites W2963895143 @default.
- W3207652813 cites W2965680175 @default.
- W3207652813 cites W2973004389 @default.
- W3207652813 cites W3038118776 @default.
- W3207652813 cites W3045991975 @default.
- W3207652813 cites W3083547791 @default.
- W3207652813 cites W3118080324 @default.
- W3207652813 cites W3124303094 @default.
- W3207652813 cites W3126673178 @default.
- W3207652813 cites W3167147477 @default.
- W3207652813 cites W3183359121 @default.
- W3207652813 cites W3186836061 @default.
- W3207652813 doi "https://doi.org/10.23919/acc53348.2022.9867584" @default.
- W3207652813 hasPublicationYear "2022" @default.
- W3207652813 type Work @default.
- W3207652813 sameAs 3207652813 @default.
- W3207652813 citedByCount "2" @default.
- W3207652813 countsByYear W32076528132023 @default.
- W3207652813 crossrefType "proceedings-article" @default.
- W3207652813 hasAuthorship W3207652813A5031928442 @default.
- W3207652813 hasAuthorship W3207652813A5090183475 @default.
- W3207652813 hasBestOaLocation W32076528132 @default.
- W3207652813 hasConcept C104317684 @default.
- W3207652813 hasConcept C121332964 @default.
- W3207652813 hasConcept C145980571 @default.
- W3207652813 hasConcept C154945302 @default.
- W3207652813 hasConcept C158448853 @default.
- W3207652813 hasConcept C158622935 @default.
- W3207652813 hasConcept C17020691 @default.
- W3207652813 hasConcept C185592680 @default.
- W3207652813 hasConcept C2775924081 @default.
- W3207652813 hasConcept C28826006 @default.
- W3207652813 hasConcept C32848918 @default.
- W3207652813 hasConcept C33923547 @default.
- W3207652813 hasConcept C41008148 @default.
- W3207652813 hasConcept C47446073 @default.
- W3207652813 hasConcept C55493867 @default.
- W3207652813 hasConcept C62520636 @default.
- W3207652813 hasConcept C74650414 @default.
- W3207652813 hasConcept C86339819 @default.
- W3207652813 hasConceptScore W3207652813C104317684 @default.
- W3207652813 hasConceptScore W3207652813C121332964 @default.
- W3207652813 hasConceptScore W3207652813C145980571 @default.
- W3207652813 hasConceptScore W3207652813C154945302 @default.
- W3207652813 hasConceptScore W3207652813C158448853 @default.
- W3207652813 hasConceptScore W3207652813C158622935 @default.
- W3207652813 hasConceptScore W3207652813C17020691 @default.
- W3207652813 hasConceptScore W3207652813C185592680 @default.
- W3207652813 hasConceptScore W3207652813C2775924081 @default.
- W3207652813 hasConceptScore W3207652813C28826006 @default.
- W3207652813 hasConceptScore W3207652813C32848918 @default.
- W3207652813 hasConceptScore W3207652813C33923547 @default.
- W3207652813 hasConceptScore W3207652813C41008148 @default.
- W3207652813 hasConceptScore W3207652813C47446073 @default.
- W3207652813 hasConceptScore W3207652813C55493867 @default.
- W3207652813 hasConceptScore W3207652813C62520636 @default.
- W3207652813 hasConceptScore W3207652813C74650414 @default.
- W3207652813 hasConceptScore W3207652813C86339819 @default.
- W3207652813 hasLocation W32076528131 @default.
- W3207652813 hasLocation W32076528132 @default.
- W3207652813 hasOpenAccess W3207652813 @default.
- W3207652813 hasPrimaryLocation W32076528131 @default.
- W3207652813 hasRelatedWork W1496660757 @default.
- W3207652813 hasRelatedWork W1669117393 @default.
- W3207652813 hasRelatedWork W2045344526 @default.
- W3207652813 hasRelatedWork W2115030441 @default.
- W3207652813 hasRelatedWork W2147578878 @default.
- W3207652813 hasRelatedWork W2159990075 @default.
- W3207652813 hasRelatedWork W2171331836 @default.
- W3207652813 hasRelatedWork W2187808779 @default.
- W3207652813 hasRelatedWork W2614149677 @default.
- W3207652813 hasRelatedWork W2799149877 @default.
- W3207652813 isParatext "false" @default.
- W3207652813 isRetracted "false" @default.
- W3207652813 magId "3207652813" @default.
- W3207652813 workType "article" @default.