Abstract: We present a stochastic model predictive control framework for nonlinear systems subject to unbounded process noise with closed-loop guarantees. First, we provide a conceptual ...

This document provides a detailed explanation of the MATLAB code that demonstrates the application of the Koopman operator theory for controlling a nonlinear system using Model Predictive Control (MPC ...

Abstract: In the field of robotics, particularly in human–robot interaction, rapid and precise torque control is crucial. This study presents a closed-loop iterative optimized (CIO) approach designed ...