123 citations · 495 across the 29 of their papers we have counts for
17 papers · 1 filter
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…
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,…
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…
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…
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…
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…
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 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…
Fixed-Time Stable Gradient Flows: Applications to Continuous-Time Optimization
Kunal Garg, Dimitra Panagou
This paper proposes novel gradient-flow schemes that yield convergence to the optimal point of a convex optimization problem within a \textit{fixed} time from any given initial con…