nam 22 uu 4500 dbt_mods_00069126 10.1016/j.ifacol.2024.10.142 doi dbt_mods_00069126 ger DE-601 rda eng 2026-02-03 600 sdnb Bold, Lea Author aut On Koopman-based surrogate models for non-holonomic robots Bold, Lea;Rosenfelder, Mario;Eschmann, Hannes;Ebel, Henrik;Worthmann, Karl (2026-02-03) Frankfurt Elsevier 2024-10-30 6 Seiten text txt rdacontent Computermedien c rdamedia Online-Ressource cr rdacarrier 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. control-affine DMD hardware Koopman learning Mobile robots non-holonomic article Rosenfelder, Mario Author aut Eschmann, Hannes Author aut Ebel, Henrik Author aut Worthmann, Karl Author aut (DE-588)1162974796 Technische Universität Ilmenau Fakultät für Mathematik und Naturwissenschaften host institution his 4. IFAC Conference on Modelling, Identification and Control of Nonlinear Systems (MICNON) (Lyon, 04.-06.09.2024) 58:21<55 Internationale Förderung für Automatische Lenkung; Technische Universität Ilmenau, Universitätsbibliothek IFAC-PapersOnLine 2405-8963 dbt_mods_00048793 Fortsetzung von: Internationale Förderung für Automatische Lenkung: IFAC Proceedings Volumes https://www.db-thueringen.de/receive/dbt_mods_00069126 object in context https://www.db-thueringen.de/servlets/MCRFileNodeServlet/dbt_derivate_00070491/2405-8963_58_2024_21_55-60.pdf raw object https://www.db-thueringen.de/rsc/thumbnail/dbt_mods_00069126.png preview https://www.db-thueringen.de/receive/dbt_mods_00069126 uri