Modeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control · HackerPapers discussionshttps://hackerpaper.kaipfister.de/p/1902.02827/Collected HN comments and submissions linking this paper.enMon, 02 Nov 2026 11:16:22 GMTModeling and Control of Soft Robots Using the Koopman Operator and Model Predictive Control — mentioned by ubjhttps://news.ycombinator.com/item?id=36927167urn:hackerpapers:mention:1902.02827:36927167Sun, 30 Jul 2023 02:23:34 GMT<p>I wish I could upvote this twice. This is the best basic introduction to concepts in functional analysis that I&#x27;ve seen. Another great overview that goes deeper into the math is [1]. Another fantastic application that the website doesn&#x27;t mention is the composition / Koopman operator. In control theory (e.g. autonomous drones, cars, robot arms, etc.), most real-world systems are described by nonlinear dynamics which are very difficult to work with (e.g. safety/stability guarantees, optimizing over forward horizons using NMPC, state estimation, etc.) The Koopman operator however gives a…</p><p><a href="https://hackerpaper.kaipfister.de/p/1902.02827/">Paper and discussion history</a>. A mention is not an endorsement.</p>cs.RO