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arXiv · 2312.01441

Koopman-based feedback design with stability guarantees

Robin Strässer·Manuel Schaller·Karl Worthmann·Julian Berberich·Frank Allgöwer
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Abstract

We present a method to design a state-feedback controller ensuring exponential stability for nonlinear systems using only measurement data. Our approach relies on Koopman-operator theory and uses robust control to explicitly account for approximation errors due to finitely many data samples. To simplify practical usage across various applications, we provide a tutorial-style exposition of the feedback design and its stability guarantees for single-input systems. Moreover, we extend this controller design to multi-input systems and more flexible nonlinear state-feedback controllers using gain-scheduling techniques to increase the guaranteed region of attraction. As the proposed controller design is framed as a semidefinite program, it allows for an efficient solution. Further, we enhance the geometry of the region of attraction through a heuristic algorithm that establishes a connection between the employed Koopman lifting and the dynamics of the system. Finally, we validate the proposed feedback design procedure by means of numerical examples.

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Robin Strässer, Manuel Schaller, Karl Worthmann, Julian Berberich, Frank Allgöwer. 2023-12-03. Koopman-based feedback design with stability guarantees. https://doi.org/10.1109/tac.2024.3425770

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