C3d: cascade control with change point detection and deep Koopman learning for autonomous surface vehicles

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Abstract

This paper presents a robust autonomy framework for maritime surface vessels under uncertain and shifting dynamics. The C3D architecture combines deep Koopman dynamics, change-point detection for domain shifts, and cascade control with LQR design. Simulation and real experiments on station keeping show clear error improvements over methods without adaptation to system changes.

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Citation

Li, Jianwen, Hyunsang Park, Wenjian Hao, Lei Xin, Jalil Chavez-Galaviz, Ajinkya Chaudhary, Meredith Bloss, et al. 2024. "C3d: cascade control with change point detection and deep koopman learning for autonomous surface vehicles." arXiv preprint arXiv:2403.05972.

@techreport{JLi2024c3dcasca,
  author = {J Li, H Park, W Hao, L Xin, J Chavez-Galaviz, A Chaudhary, M Bloss, ...},
  year = {2024},
  title = {C3d: cascade control with change point detection and deep koopman learning for autonomous surface vehicles},
  number = {arXiv:2403.05972},
  url = {https://arxiv.org/pdf/2403.05972}
}