GitHub topics: control-lyapunov-functions
HybridRobotics/CBF-CLF-Helper
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
Language: MATLAB - Size: 1.33 MB - Last synced at: 13 days ago - Pushed at: 11 months ago - Stars: 314 - Forks: 68
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)
Language: MATLAB - Size: 53.3 MB - Last synced at: 19 days ago - Pushed at: over 1 year ago - Stars: 267 - Forks: 47
JohannesAutenrieb/CBF_ACC
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.
Language: MATLAB - Size: 2.61 MB - Last synced at: over 1 year ago - Pushed at: almost 2 years ago - Stars: 2 - Forks: 1
HybridRobotics/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
Size: 14.9 MB - Last synced at: over 1 year ago - Pushed at: over 3 years ago - Stars: 137 - Forks: 38
YaChienChang/Neural-Lyapunov-Control
Learning Lyapunov functions and control policies of nonlinear dynamical systems
Language: Jupyter Notebook - Size: 306 KB - Last synced at: over 1 year ago - Pushed at: about 4 years ago - Stars: 103 - Forks: 27
buntonj/CLF-CBF-QP
Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.
Language: MATLAB - Size: 2.6 MB - Last synced at: over 1 year ago - Pushed at: over 1 year ago - Stars: 14 - Forks: 13
vkotaru/nonlinear_controls
Nonlinear controls, linear controls, Lyapunov-based controls, MPC, geometric, etc.
Language: C++ - Size: 367 KB - Last synced at: over 1 year ago - Pushed at: over 2 years ago - Stars: 10 - Forks: 6
HybridRobotics/CBF-Pointwise-Feasibility 📦
"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
Language: MATLAB - Size: 6.08 MB - Last synced at: almost 2 years ago - Pushed at: about 4 years ago - Stars: 21 - Forks: 7
UMich-BipedLab/CLF_reactive_planning_system
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 cope with robot deviations. The planning system allowed Cassie Blue to autonomously traverse sinusoidally varying terrain. More experiments are still being conducted and this repo and the paper will be updated accordingly.
Language: C++ - Size: 886 MB - Last synced at: about 2 years ago - Pushed at: almost 3 years ago - Stars: 35 - Forks: 11
robotsorcerer/LyapunovLearner
Learning Control Lyapunov Functions to Stabilize the Trajectories of Dynamical Systems.
Language: Jupyter Notebook - Size: 32.3 MB - Last synced at: about 2 years ago - Pushed at: almost 3 years ago - Stars: 3 - Forks: 1
