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Search results for control lyapunov functions

control-lyapunov-functions x

5 search results found

Nmpc Dclf Dcbf ⭐ 133

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

"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

Clf_reactive_planning_system ⭐ 23

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

Cbf Clf Helper ⭐ 17

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

Clf Cbf Qp ⭐ 14

Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.

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