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math.OC2026
Iterative State- and Control-Dependent Model Predictive Control: A Jacobian-Free Formulation for Constrained Nonlinear Systems
Mohammadreza Kamaldar
This paper presents an iterative model predictive control algorithm that stabilizes constrained nonlinear systems without evaluating a single plant derivative. By factoring the exa…
math.OC2026
Deterministic Non-Smooth Safety via Dual-Algebraic Control Barrier Functions
Mohammadreza Kamaldar
This paper presents a dual-algebraic framework for control barrier functions (CBFs) that guarantees deterministic execution using exclusively elementary arithmetic. We develop this…