44 citations · 47 across the 4 of their papers we have counts for
6 papers
Fixed-Time Stable Proximal Dynamical System for Solving MVIPs
Kunal Garg, Mayank Baranwal, Rohit Gupta +1
In this paper, a novel modified proximal dynamical system is proposed to compute the solution of a mixed variational inequality problem (MVIP) within a fixed time, where the time o…
The Discrete-Time Geometric Maximum Principle
Robert Kipka, Rohit Gupta
We establish a variety of results extending the well-known Pontryagin maximum principle of optimal control to discrete-time optimal control problems posed on smooth manifolds. Thes…
Linear Openness and Feedback Stabilization of Nonlinear Control Systems
Rohit Gupta, Farhad Jafari, Robert J. Kipka +1
It is well known from the seminal Brockett's theorem that the openness property of the mapping on the right-hand side of a given nonlinear ODE control system is a necessary conditi…
Optimal Control Problems with Symmetry Breaking Cost Functions
Anthony Bloch, Leonardo Colombo, Rohit Gupta +1
We investigate symmetry reduction of optimal control problems for left-invariant control systems on Lie groups, with partial symmetry breaking cost functions. Our approach emphasiz…
MPC on manifolds with an application to the control of spacecraft attitude on SO(3)
Uroš Kalabić, Rohit Gupta, Stefano Di Cairano +2
We develop a model predictive control (MPC) design for systems with discrete-time dynamics evolving on smooth manifolds. We show that the properties of conventional MPC for dynamic…
A geometric approach to the optimal control of nonholnomic mechanical systems
Anthony Bloch, Leonardo Colombo, Rohit Gupta +1
In this paper, we describe a constrained Lagrangian and Hamiltonian formalism for the optimal control of nonholonomic mechanical systems. In particular, we aim to minimize a cost f…