Yuki Higuchi

Bilinear Koopman-Based Robust Model Predictive Control for Unknown Nonlinear Systems via Contraction Metrics

A RMPC framework for unknown nonlinear systems with general nonlinear constraints based on data-driven bilinear Koopman realizations is proposed and robust satisfaction of the original nonlinear constraints is proved by the true closed-loop trajectory, recursive feasibility, and convergence to a neighborhood of the target state.