ASACK provides a unified online adaptation method for Koopman models of uncertain nonlinear systems that combines contractive learning laws, active excitation, and robust MPC safety bounds.
Modeling quadruped leg dynamics on deformable terrains using data-driven koopman operators
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ASACK : Adaptive Safe Active Continual Koopman Learning for Uncertain Systems with Contractive Guarantees
ASACK provides a unified online adaptation method for Koopman models of uncertain nonlinear systems that combines contractive learning laws, active excitation, and robust MPC safety bounds.