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math.OC2026
Constricting Tubes for Prescribed-Time Safe Control
Darshan Gadginmath, Ahmed Allibhoy, Fabio Pasqualetti
We propose a constricting Control Barrier Function (CBF) framework for prescribed-time control of control-affine systems with input constraints. Given a system starting outside a t…
math.OC2025
Score Matching Diffusion Based Feedback Control and Planning of Nonlinear Systems
Karthik Elamvazhuthi, Darshan Gadginmath, Fabio Pasqualetti
In this paper, we propose a deterministic diffusion-based framework for controlling the probability density of nonlinear control-affine systems, with theoretical guarantees for dri…
math.OC2024
Denoising Diffusion-Based Control of Nonlinear Systems
Karthik Elamvazhuthi, Darshan Gadginmath, Fabio Pasqualetti
We propose a novel approach based on Denoising Diffusion Probabilistic Models (DDPMs) to control nonlinear dynamical systems. DDPMs are the state-of-art of generative models that h…