123 citations · 495 across the 29 of their papers we have counts for
30 papers
On Fixed-Time Stability of Continuous Dynamics for Non-Monotone Variational Inequalities
Sina Arefizadeh, Kunal Garg, Angelia Nedić
Non-monotone variational inequalities (NMVI) are an important class of problems that generalize non-convex optimization and have various applications in optimization theory, machin…
Equivalence of Finite- and Fixed-time Stability to Asymptotic Stability
Kunal Garg
In this paper, we present new results on finite- and fixed-time convergence for dynamical systems using LaSalle-like invariance principles. In particular, we provide first and seco…
Advances in the Theory of Control Barrier Functions: Addressing Practical Challenges in Safe Control Synthesis for Autonomous and Robotic Systems
Kunal Garg, James Usevitch, Joseph Breeden +4
This tutorial paper presents recent work of the authors that extends the theory of Control Barrier Functions (CBFs) to address practical challenges in the synthesis of safe control…
An Observer-based Switching Algorithm for Safety under Sensor Denial-of-Service Attacks
Santiago Jimenez Leudo, Kunal Garg, Ricardo G. Sanfelice +1
The design of safe-critical control algorithms for systems under Denial-of-Service (DoS) attacks on the system output is studied in this work. We aim to address scenarios where att…
Fixed-Time Convergence for a Class of Nonconvex-Nonconcave Min-Max Problems
Kunal Garg, Mayank Baranwal
This study develops a fixed-time convergent saddle point dynamical system for solving min-max problems under a relaxation of standard convexity-concavity assumption. In particular,…
Control Barrier Function based Attack-Recovery with Provable Guarantees
Kunal Garg, Ricardo G. Sanfelice, Alvaro A. Cardenas
This paper studies provable security guarantees for cyber-physical systems (CPS) under actuator attacks. In particular, we consider CPS safety and propose a new attack detection me…
Breaking the Convergence Barrier: Optimization via Fixed-Time Convergent Flows
Param Budhraja, Mayank Baranwal, Kunal Garg +1
Accelerated gradient methods are the cornerstones of large-scale, data-driven optimization problems that arise naturally in machine learning and other fields concerning data analys…
Sampling based Computation of Viability Domain to Prevent Safety Violations by Attackers
Kunal Garg, Ricardo G. Sanfelice, Alvaro A. Cardenas
This paper studies the security of cyber-physical systems under attacks. Our goal is to design system parameters, such as a set of initial conditions and input bounds so that it is…
Multi-rate Control Design under Input Constraints via Fixed-Time Barrier Functions
Kunal Garg, Ryan K. Cosner, Ugo Rosolia +2
In this paper, we introduce the notion of periodic safety, which requires that the system trajectories periodically visit a subset of a forward-invariant safe set, and utilize it i…
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…
Strong Invariance Using Control Barrier Functions: A Clarke Tangent Cone Approach
James Usevitch, Kunal Garg, Dimitra Panagou
Many control applications require that a system be constrained to a particular set of states, often termed as safe set. A practical and flexible method for rendering safe sets forw…
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…
A Quadratic Program based Control Synthesis under Spatiotemporal Constraints and Non-vanishing Disturbances
Mitchell Black, Kunal Garg, Dimitra Panagou
In this paper, we study the effect of non-vanishing disturbances on the stability of fixed-time stable (FxTS) systems. We present a new result on FxTS, which allows a positive term…
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…
Robust Distributed Fixed-Time Economic Dispatch under Time-Varying Topology
Mayank Baranwal, Kunal Garg, Dimitra Panagou +1
The centralized power generation infrastructure that defines the North American electric grid is slowly moving to the distributed architecture due to the explosion in use of renewa…
Safety-Critical Adaptive Control with Nonlinear Reference Model Systems
Ehsan Arabi, Kunal Garg, Dimitra Panagou
In this paper, a model reference adaptive control architecture is proposed for uncertain nonlinear systems to achieve prescribed performance guarantees. Specifically, a general non…
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…
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…
Fixed-time Control under Spatiotemporal and Input Constraints: A Quadratic Program Based Approach
Kunal Garg, Ehsan Arabi, Dimitra Panagou
In this paper, we present a control synthesis framework for a general class of nonlinear, control-affine systems under spatiotemporal and input constraints. First, we study the pro…
Accelerating Distributed Optimization via Fixed-time Convergent Flows: Extensions to Non-convex Functions and Consistent Discretization
Kunal Garg, Mayank Baranwal
Distributed optimization has gained significant attention in recent years, primarily fueled by the availability of a large amount of data and privacy-preserving requirements. This…
Prescribed-time convergence with input constraints: A control Lyapunov function based approach
Kunal Garg, Ehsan Arabi, Dimitra Panagou
In this paper, we present a control framework for a general class of control-affine nonlinear systems under spatiotemporal and input constraints. Specifically, the proposed control…
Control-Lyapunov and Control-Barrier Functions based Quadratic Program for Spatio-temporal Specifications
Kunal Garg, Dimitra Panagou
This paper presents a method for control synthesis under spatio-temporal constraints. First, we consider the problem of reaching a set in a user-defined or prescribed time .…
Finite-Time Stability of Switched and Hybrid Systems with Unstable Modes
Kunal Garg, Dimitra Panagou
In this work, we study finite-time stability of switched and hybrid systems in the presence of unstable modes. We present sufficient conditions in terms of multiple Lyapunov functi…