All Categories → No Category → control-lyapunov-functions

Top 4 control-lyapunov-functions open source projects

This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…

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)

✭ 38

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

CBF-CLF-Helper

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

✭ 79

matlab M control-theory clf safety-critical cbf control-lyapunov-functions control-barrier-functions

MPC-CBF

"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718

✭ 106

model-predictive-control ipopt safety-critical-systems mpc-control obstacle-avoidance-algorithm control-lyapunov-functions mpc-cbf control-barrier-functions

1-4 of 4 control-lyapunov-functions projects