control-lyapunov-functions topic

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

HybridRobotics

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

HybridRobotics

"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

HybridRobotics

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 c...

UMich-BipedLab

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

buntonj

"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

HybridRobotics

Learning Lyapunov functions and control policies of nonlinear dynamical systems

YaChienChang