Optimal-Control | Neeraj Balachandar | Research Portfoliohttps://neerajbalachandar.github.io/tags/optimal-control/Optimal-ControlHugo Blox Builder (https://hugoblox.com)en-usThu, 01 Jan 2026 00:00:00 +0000https://neerajbalachandar.github.io/media/icon_hu16206239388152479810.pngOptimal-Controlhttps://neerajbalachandar.github.io/tags/optimal-control/Nonlinear Model Predictive Control via Sequential Convex Programming for Drone-to-Drone Dockinghttps://neerajbalachandar.github.io/project/docking/Thu, 11 Sep 2025 00:00:00 +0000https://neerajbalachandar.github.io/project/docking/<h2 id="problem">Problem</h2> <p>This project develops sequential convex programming formulations for drone-to-drone docking. The focus is on safe, feasible trajectories that respect disturbance bounds and actuator limits while preserving computational tractability.</p> <figure class="project-detail-figure"><img src="https://neerajbalachandar.github.io/project/docking/detail.png" alt="Nonlinear Model Predictive Control via Sequential Convex Programming for Drone-to-Drone Docking detail image" loading="lazy"></figure> <h2 id="approach">Approach</h2> <ul> <li>Convexified constraints for safety and docking geometry</li> <li>Robust thrust profiles under bounded disturbances</li> <li>Numerical validation on docking scenarios</li> </ul>Adaptive Trajectory Planning with Sequential Convex Programming for Drone-to-Drone Dockinghttps://neerajbalachandar.github.io/publication/preprint/Thu, 01 Jan 2026 00:00:00 +0000https://neerajbalachandar.github.io/publication/preprint/<p>Accepted for presentation at AIAA SciTech 2026 (Session IS-24: Autonomy III).</p>