DFL

Repository for exploring modeling of dynamical systems through lifted space linearizations.

Setup

Add the DFL directory to your ~/.bashrc file. For example:

export PYTHONPATH='/home/nick/GitHub/DFL'

Run Examples

Navigate to DFL/examples and run:

$ python3 example_simple.py

Citing this repository

This repository is affiliated with a journal article you can read for free at https://arxiv.org/abs/2104.02004. Please use the following text to cite this repository:

N. S. Selby and H. H. Asada, "Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation," in IEEE Robotics and Automation Letters, vol. 6, no. 4, pp. 6297-6304, Oct. 2021, doi: 10.1109/LRA.2021.3092256.

The BibTeX is:

@ARTICLE{L3,
  author={Selby, Nicholas S. and Asada, H. Harry},
  journal={IEEE Robotics and Automation Letters},
  title={Learning of Causal Observable Functions for Koopman-DFL Lifting Linearization of Nonlinear Controlled Systems and Its Application to Excavation Automation},
  year={2021},
  volume={6},
  number={4},
  pages={6297-6304},
  doi={10.1109/LRA.2021.3092256}}