The authors learn a Koopman model of a Duffing-oscillator virtual environment and show it matches the nonlinear model in simulation, hardware, and user perception, while claiming simplified and less conservative stability analysis.
Time domain passivity control with reference energy following,
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Koopman Representation of Nonlinear Virtual Environments in Kinesthetic Haptic Systems
The authors learn a Koopman model of a Duffing-oscillator virtual environment and show it matches the nonlinear model in simulation, hardware, and user perception, while claiming simplified and less conservative stability analysis.