CBF-CLF-Helper

CBF-CLF-Helper copied to clipboard

Hi, please report any typo you found in the manual or any suggestions on improving it in this thread. Thanks a lot!

Typo: In slide 15 (Step 3, Design a CBF and evaluate), It should be \dot{B}(x, u) + \gamma B(x) ">=" 0 instead of "<=".

Hi Jason,

Thanks for the great work. The manual looks great.

I think one thing to improve is to change the penalty of slack variables when you formulate CLF-QP, e.g. in page 8 and 10. I would suggest to add a linear penalty $q \delta$ besides the quadratic one $p \delta^2$, because solely using quadratic penalty cannot achieve the exact penalty (slack variables always being 0 when the original problem is feasible).