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math.OC2024
Closed-loop Analysis of ADMM-based Suboptimal Linear Model Predictive Control
Anusha Srikanthan, Aren Karapetyan, Vijay Kumar +1
Many practical applications of optimal control are subject to real-time computational constraints. When applying model predictive control (MPC) in these settings, respecting timing…
math.OC2023★ 3 cited
Augmented Lagrangian Methods as Layered Control Architectures
Anusha Srikanthan, Vijay Kumar, Nikolai Matni
For optimal control problems that involve planning and following a trajectory, two degree of freedom (2DOF) controllers are a ubiquitously used control architecture that decomposes…