Pumphrey, Michael (University of Guelph), Boker, Almuatazbellah (Virginia Tech), Al Saaideh, Mohammad (Memorial University of Newfoundland), Alatawneh, Natheer (University of Guelph), Al-Rawashdeh, Yazan (ZUJ), Aljanaideh, Khaled (Jordan University of Science and Technology), Al Janaideh, Mohammad (University of Guelph)

Modeling and Prediction of Nonlinear Cable Slab Dynamics Using Koopman Operators

Scheduled for presentation during the Regular Session "Estimation and filtering" (WeCT1), Wednesday, July 16, 2025, 17:30−17:50, Room 105

Joint 10th IFAC Symposium on Mechatronic Systems and 14th Symposium on Robotics, July 15-18, 2025, Paris, France

This information is tentative and subject to change. Compiled on July 16, 2025

Abstract

A novel approach for modeling the nonlinear dynamics of cable slabs using Koopman operator theory is presented. Cable slab dynamics are a critical challenge in precision motion systems, as the cables can induce undesired vibrations and disturbances on motion stages. To address this, a higher-dimensional state-space model with nonlinear observable functions is developed to approximate the cable slab dynamics. The proposed model achieves a prediction error within ~1% over the specified motion range and demonstrates robustness in predicting untrained, randomized, acyclic cable slab motions. A systematic evaluation of various observable functions was conducted to minimize the modeling errors, leading to an optimized model with fractional-order exponents. When compared with a neural network-based state-space model (NN-SS), the Koopman approach demonstrated faster training and better performance. For force prediction, the Koopman approach achieved a reduction of three-quarters in maximum error when compared with the NN-SS method. This work offers a concise and experimentally validated analytical framework specifically for developing accurate predictive models of nonlinear cable slab dynamics.