HybridRobotics / NMPC-DCLF-DCBF
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
☆227Updated last year
Related projects ⓘ
Alternatives and complementary repositories for NMPC-DCLF-DCBF
- "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv…☆218Updated 2 years ago
- Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.☆262Updated 4 months ago
- This repository is an implementation of the work from Mohamed W. Mehrez. I convert the original code in MATLAB to the Python☆142Updated last year
- This repo collets few LMPC examples coded in Python☆81Updated 4 months ago
- Model Predictive Control with discrete-time Control Barrier Functions (MPC-CBF) for a wheeled mobile robot.☆112Updated last year
- An open source repository for control, planning and navigation about control barrier functions.☆167Updated 8 months ago
- ☆38Updated last year
- A toolkit for testing control and planning algorithm for car racing.☆166Updated 7 months ago
- ☆267Updated 3 years ago
- Real-time Neural MPC: Deep Learning Model Predictive Control for Quadrotors and Agile Robotic Platforms☆163Updated last year
- A Parallel Optimization Toolkit for Nonlinear Model Predictive Control (NMPC)☆297Updated 4 years ago
- Robust model predictive control for path tracking with obstacle avoidance☆69Updated last year
- Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart☆181Updated 4 years ago
- This is a workshop on implementing model predictive control (MPC) and moving horizon estimation (MHE) on Matlab. The implementation is ba…☆341Updated 3 years ago
- iterative Linear Quadratic Regulator with constraints.☆182Updated 4 months ago
- Code for the book☆62Updated last year
- Example implementation for robust model predictive control using tube☆436Updated 3 years ago
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆26Updated 3 years ago
- Get started with Reachability-based Trajectory Design for static obstacles☆62Updated 2 years ago
- A non-linear trajectory optimization library developed by Optimus Ride, Inc. This library implements a C++ version of the original open-s…☆127Updated 2 years ago
- C++/Eigen implementation of iLQR☆102Updated 5 years ago
- Multi-Purpose MPC for Reference Path Tracking, Time-Optimal Driving and Obstacle Avoidance☆246Updated 3 years ago
- Robust Online Motion Planning using Contraction Theory☆53Updated 5 years ago
- MPC with Gaussian Process☆200Updated 5 years ago
- ☆70Updated 7 months ago
- Learning based Model Prodictive Control for online iterative trajectory optimization for F1/10 autonomous racing.☆129Updated 4 years ago
- Autonomous control of an USV using Model Predictive Control☆185Updated 7 years ago
- A Model Predictive Control (MPC) Python library based on the OSQP solver.☆192Updated 3 years ago
- This is a Matlab and CasADi based Model Predictive Control (MPC) implementation for a kinematic vehicle model. The primary goal of this c…☆9Updated last year
- Kinematic MPC and dynamic LPV-LQR state feedback control for an autonomous vehicle☆132Updated 6 years ago