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eess.SY2026
Model Predictive Static Programming for Discrete-Time Optimal Control on Lie Groups
Akhil B Krishna, Mangal Kothari
This paper extends the Model Predictive Static Programming (MPSP) framework for nonlinear systems evolving on Euclidean spaces to simple mechanical systems evolving on Lie groups.…
eess.SY2025
A Consensus Algorithm for Second-Order Systems Evolving on Lie Groups
Akhil B Krishna, Farshad Khorrami, Anthony Tzes
In this paper, a consensus algorithm is proposed for interacting multi-agents, which can be modeled as simple Mechanical Control Systems (MCS) evolving on a general Lie group. The…