Instruct: Identify the main and secondary category of Arxiv papers based on the titles and abstracts
Query: Model Predictive Control of a Vehicle using Koopman Operator   This paper continues in the work from arXiv:1903.06103 [math.OC] where a
nonlinear vehicle model was approximated in a purely data-driven manner by a
linear predictor of higher order, namely the Koopman operator. The vehicle
system typically features a lot of nonlinearities such as rigid-body dynamics,
coordinate system transformations and most importantly the tire. These
nonlinearities are approximated in a predefined subset of the state-space by
the linear Koopman operator and used for a linear Model Predictive Control
(MPC) design in the high-dimension state space where the nonlinear system
dynamics evolve linearly. The result is a nonlinear MPC designed by linear
methodologies. It is demonstrated that the Koopman-based controller is able to
recover from a very unusual state of the vehicle where all the aforementioned
nonlinearities are dominant. The controller is compared with a controller based
on a classic local linearization and shortcomings of this approach are
discussed.

29
The categories of this paper are: funct-an
7
The categories of this paper are: hep-th
17
The categories of this paper are: q-fin
11
The categories of this paper are: hep-lat
8
The categories of this paper are: hep-ex
21
The categories of this paper are: adap-org
9
The categories of this paper are: nlin
30
The categories of this paper are: q-alg
6
The categories of this paper are: astro-ph
35
The categories of this paper are: mtrl-th
33
The categories of this paper are: plasm-ph
24
The categories of this paper are: dg-ga
18
The categories of this paper are: econ
28
The categories of this paper are: alg-geom
16
The categories of this paper are: stat
36
The categories of this paper are: cmp-lg