Deep Koopman operator-informed safety command governor for autonomous vehicles

• Main Authors: Chen, Hao, He, Xiangkun, Cheng, Shuo, Lv, Chen
• Other Authors: School of Mechanical and Aerospace Engineering
• Format: Article
• Language: English
• Published: 2024
• Subjects: Engineering; Autonomous vehicles; Control barrier function
• Online Access: https://hdl.handle.net/10356/176671
• Institution: Nanyang Technological University

Modeling of nonlinear behaviors with physical-based models poses challenges. However, Koopman operator maps the original nonlinear system into an infinite-dimensional linear space to achieve global linearization of the nonlinear system through input and output data, which derives an absolute equival...