Residual Koopman MPC adds a learned correction to a kinematic-baseline LMPC, cutting required training data to about 20% of standard Koopman MPC and improving lateral and heading tracking.
Linear predictors for nonlinear dynamical systems: Koopman operator meets model predictive control,
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Residual Koopman Model Predictive Control for Enhanced Vehicle Dynamics with Small On-Track Data Input
Residual Koopman MPC adds a learned correction to a kinematic-baseline LMPC, cutting required training data to about 20% of standard Koopman MPC and improving lateral and heading tracking.