safety-critical-systems

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HybridRobotics / NMPC-DCLF-DCBF

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

matlab nonlinear-optimization quadratic-programming model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions control-barrier-functions

Updated Nov 9, 2023
MATLAB

HybridRobotics / CBF-Pointwise-Feasibility

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"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf

optimization feasibility safety-critical-systems control-lyapunov-functions control-barrier-functions input-constraints

Updated May 23, 2021
MATLAB

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