Chidre Shravista Kashyap

Generalized Momenta-Based Koopman Formalism for Robust Control of Euler-Lagrangian Systems

This paper presents a novel Koopman operator formulation for Euler–Lagrangian dynamics that employs an implicit generalized momentum-based state space representation, which decouples a known linear actuation channel from state-dependent dynamics and makes the system more amenable to linear Koopman m…