This is the homepage of a new book entitled "Mathematical Foundations of Reinforcement Learning."

A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

Quadrotor control using minimum snap trajectory optimization and SE3 geometric controller

This is a minimal repository containing the Matlab / Simulink to test a quadrotor subjected to single / double rotor failures, the incremental-nonlinear-dynamic-inversion controller.

nosnoc is an open source software package for NOnSmooth Numerical Optimal Control.