Eric-Bradford / Nominal_NMPCLinks
A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation
☆50Updated 4 years ago
Alternatives and similar repositories for Nominal_NMPC
Users that are interested in Nominal_NMPC are comparing it to the libraries listed below
Sorting:
- Sampling based GP MPC☆36Updated 2 weeks ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆31Updated 4 years ago
- This repo collets few LMPC examples coded in Python☆84Updated last year
- Matlab iLQR class which will solve for the optimal set of inputs and gains to get to a desired state☆26Updated last year
- Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023☆34Updated last year
- ☆33Updated 4 years ago
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆47Updated 2 years ago
- Papers on Safety Critical Controls using Control Barrier Functions☆43Updated 11 months ago
- ☆49Updated last year
- Colab notebooks showcasing experiments on MPPI (model predictive path integral control) and CBF (control barrier function). Utilizes jax …☆100Updated 7 months ago
- Get started with Reachability-based Trajectory Design for static obstacles☆61Updated 3 years ago
- ☆52Updated 5 years ago
- Safety-critical control for autonomous systems☆13Updated 2 years ago
- Robust Online Motion Planning using Contraction Theory☆60Updated 6 years ago
- Code for the paper "Control Barriers in Bayesian Learning of System Dynamics"☆29Updated 2 years ago
- Zero-Order Robust Nonlinear Model Predictive Control with Ellipsoidal Uncertainty Sets☆24Updated last year
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆66Updated 2 years ago
- This repository has the code for the nonlinear model predictive controller for target tracking problems with the use of Casadi framework …☆73Updated last year
- ☆18Updated last year
- Robust model predictive control for path tracking with obstacle avoidance☆103Updated 2 years ago
- ROS implementation for omnidirectional mobile robot tracking and navigation using Nonlinear MPC based on CasADi toolkit☆46Updated 3 years ago
- Implementation of the Online Adaptive CBF for safety-critical navigation for input constrained systems.☆42Updated last month
- Algorithm Implementation of Distributed Potential iterative Linear Quadratic Regulator☆32Updated 2 years ago
- ☆52Updated 8 months ago
- ☆16Updated 11 months ago
- Control barrier function as safety filter with disturbance observer☆35Updated 7 months ago
- Matlab Code base for T-RO 20 paper on robust Control Barrier Functions (CBFs) with Gaussian Process Regression for estimating the disturb…☆17Updated 3 years ago
- ☆74Updated last year
- Automatic Tuning for Data-driven Model Predictive Control☆68Updated 2 years ago
- "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions" by S. Liu, J. Zeng, …☆37Updated 2 years ago