Koopman-Based Linear MPC for Safe Control using Control Barrier Functions

arXiv:2603.21070 · eess.SY, cs.SY · Submitted 2026-03-22 · Read on arXiv

eess.SY, cs.SY

Submitted: 2026-03-22

Updated: 2026-09-17

Comments: 8 pages, 4 figures

License: http://arxiv.org/licenses/nonexclusive-distrib/1.0/

Terminology

• Conference on Decision and Control — 4× in this paper
• Dynamic Mode Decomposition — 4× in this paper
• Accuracy — 3× in this paper · explained in 1 episode
• American Control Conference — 3× in this paper
• Regularization — 2× in this paper · explained in 3 episodes
• Benchmark — 1× in this paper · explained in 2 episodes
• Closed-Loop Control — 1× in this paper · explained in 3 episodes
• Control Barrier Functions (CBFs) — 1× in this paper · explained in 4 episodes
• Core — 1× in this paper · explained in 2 episodes
• Dynamic Mode Decomposition (DMD) — 1× in this paper · explained in 3 episodes
• Extended Dynamic Mode Decomposition — 1× in this paper
• Model Predictive Control (MPC) — 1× in this paper · explained in 5 episodes
• Multi-Agent System — 1× in this paper · explained in 6 episodes

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