Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
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Jun 30, 2024 - MATLAB
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control-barrier-functions
Here are 9 public repositories matching this topic...
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
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Nov 9, 2023 - MATLAB
Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.
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Oct 3, 2023 - MATLAB
"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
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May 23, 2021 - MATLAB
This repository houses MATLAB code written to study CBF-based safety filters in the context of obstacle avoidance for 2D linear systems.
control-systems control-theory quadratic-programming obstacle-avoidance control-barrier-functions safety-critical-control state-constrained
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Jul 17, 2023 - MATLAB
This collection of MATLAB scripts intends to study the performance of state-constrained controllers utilizing control barrier functions in the context of adaptive cruise control.
control-systems control-theory quadratic-programming adaptive-cruise-control control-lyapunov-functions control-barrier-functions safety-critical-control
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Aug 3, 2023 - MATLAB
The 1D_MPC_CBF repository houses a collection of MATLAB scripts written to study differnt state-constrained controllers.
control-systems model-predictive-control control-barrier-functions safety-critical-control state-constrained control-th
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Jul 17, 2023 - MATLAB
Safety-critical control for systems with unknown dynamics
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Mar 18, 2024 - MATLAB
Code for my bachelor thesis on "Control Barrier Functions for Learning-Based Regulation of Elastic Actuators with State Constraints".
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Apr 19, 2024 - MATLAB
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