This is a Python realization for Milan Korda and Igor Mezic's paper Linear predictors for nonlinear dynamical systems: Koopman operator meets model predictive control

manipulatorjacobian

A discussion on the spatial and body Jacobian matrix of serial manipulators.

modelling-with-poe

Obtaining a robotic system's dynamics with PoE

nnkoopman

Koopman Invariant susbspace learning with NN

optimization_group_work

最优化课大作业

rnn_optimal_controller

Use RNN to model dynamic system then use that to train optimal controller

study-do-mpc

Study do-mpc toolbox.

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