Xing long Zhang

Data-driven Kalman Filter with Kernel-based Koopman Operators for Nonlinear Robot Systems

Designing the Kalman filter for nonlinear robot systems with theoretical guarantees is challenging, especially when the dynamics model is unavailable. This paper proposes a data-driven Kalman filter algorithm using kernel-based Koop-man operators for unknown nonlinear robot systems. First, the Koopm…