6 papers
Control Barrier Functions in Sampled-Data Systems
Joseph Breeden, Kunal Garg, Dimitra Panagou
This paper presents conditions for ensuring forward invariance of safe sets under sampled-data system dynamics with piecewise-constant controllers and fixed time-steps. First, we i…
CAPPA: Continuous-time Accelerated Proximal Point Algorithm for Sparse Recovery
Kunal Garg, Mayank Baranwal
This paper develops a novel Continuous-time Accelerated Proximal Point Algorithm (CAPPA) for -minimization problems with provable fixed-time convergence guarantees. The pro…
Characterization of Domain of Fixed-time Stability under Control Input Constraints
Kunal Garg, Dimitra Panagou
In this paper, we study the effect of control input constraints on the domain of attraction of an FxTS equilibrium point. We first present a new result on FxTS, where we allow a po…
Robust Control Barrier and Control Lyapunov Functions with Fixed-Time Convergence Guarantees
Kunal Garg, Dimitra Panagou
This paper studies control synthesis for a general class of nonlinear, control-affine dynamical systems under additive disturbances and state-estimation errors. We enforce forward…
Finite-Time Stability of Hybrid Systems: A Multiple Generalized Lyapunov Functions Approach
Kunal Garg, Dimitra Panagou
This paper studies finite-time stability of a class of hybrid systems. We present sufficient conditions in terms of multiple generalized Lyapunov functions for the origin of the hy…
Finite-Time Stability of Adaptive Parameter Estimation and Control
Kunal Garg, Parag Bobade, Dimitra Panagou
This paper presents extensions of finite-time stability results to some prototypical adaptive control and estimation frameworks. First, we present a novel scheme of online paramete…