Bibliographic Details
| Title: |
On Koopman-based surrogate models for non-holonomic robots |
| Authors: |
Bold, Lea, Rosenfelder, Mario, Eschmann, Hannes, Ebel, Henrik, Worthmann, Karl |
| Source: |
IFAC-PapersOnLine; January 2024, Vol. 58 Issue: 21 p55-60, 6p |
| Abstract: |
Data-driven surrogate models of dynamical systems based on the extended dynamic mode decomposition are nowadays well-established and widely applied. Further, for non-holonomic systems exhibiting a multiplicative coupling between states and controls, the usage of bilinear surrogate models has proven beneficial. However, an analysis of the approximation quality and its dependence on different hyperparameters, including physics-motivated dictionary choices, with real-world experimental data is still missing. To close this gap and due to its high practical relevance and widespread usage in applications such as service robotics, we investigate Koopman-based surrogate modeling for a differential-drive mobile robot, also in hardware. |
| Database: |
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