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

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

Learning Lyapunov functions and control policies of nonlinear dynamical systems

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 co…

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

"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

Nonlinear controls, linear controls, Lyapunov-based controls, MPC, geometric, etc.

Learning Control Lyapunov Functions to Stabilize the Trajectories of Dynamical Systems.

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.