A. Stefan-Zavala

Real-Time Disturbance-Aware Koopman Model Predictive Control for Quadrotors in Spatially Varying Winds

Reliable quadrotor flight in disturbed environments requires predictive models that remain accurate as unmodeled aerodynamic effects change during deployment. We introduce a disturbance-aware Koopman Control Family (DA-KCF) framework that preserves an offline-identified nominal model while learning only a disturbance-i...