jbreeden-um / phd-code
☆34Updated 6 months ago
Related projects: ⓘ
- "Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. L…☆25Updated 3 years ago
- Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.☆26Updated 11 months ago
- Develop a Koopman operator based MPC for controlling a quadrotor☆33Updated 7 months ago
- Safety-aware MPC-based RL framework☆43Updated 2 months ago
- ☆22Updated last year
- Short example of MPC and specifically stochastic MPC (SMPC) with chance constraints for Matlab.☆48Updated last year
- The reproduction of tube-based MPC for nonlinear systems☆33Updated 4 months ago
- Code needed to reproduce examples in "Robust Closed-loop Model Predictive Control via System Level Synthesis," by S. Chen, H. Wang, M. Mo…☆26Updated 4 years ago
- Implementation of implicit dual control-based active uncertainty learning for human-robot interaction - WAFR 2022 & IJRR 2023☆24Updated 2 months ago
- ☆28Updated 3 years ago
- PyBullet CartPole and Quadrotor environments—with CasADi symbolic a priori dynamics—for learning-based control and RL☆16Updated 2 months ago
- Control Barrier Functions for Quadrotors, standalone with dynamics simulator, nominal controllers.☆55Updated last year
- ☆13Updated 3 years ago
- Code for "Differentially Flat Learning-based Model Predictive Control Using a Stability, State, and Input Constraining Safety Filter"☆18Updated last year
- Code to reproduce results in peer-reviewed publications☆13Updated 8 months ago
- Code for the paper "Control Barriers in Bayesian Learning of System Dynamics"☆22Updated last year
- EXPSIN / Quadratic-Programming-for-Continuous-Control-of-Safety-Critical-Multi-Agent-Systems-Under-UncertaintQuadratic Programming for Continuous Control of Safety-Critical Multi-Agent Systems Under Uncertainty☆10Updated last week
- ☆28Updated 2 years ago
- Matlab Code base for T-RO 20 paper on robust Control Barrier Functions (CBFs) with Gaussian Process Regression for estimating the disturb…☆12Updated 2 years ago
- J. Berberich, J. Köhler, M. A. Müller and F. Allgöwer, "Data-Driven Model Predictive Control With Stability and Robustness Guarantees," i…☆29Updated 9 months ago
- Various Control Barrier Functions realized on cartpole.☆21Updated 2 months ago
- This simulation file demonstrates a variant of Robust Tube MPC in which the initial nominal state is a decision variable. Theoretical ba…☆10Updated 7 months ago
- ☆26Updated 3 years ago
- Python code for implementing a set of basic robust model predictive control (RMPC) algorithms for linear systems.☆22Updated 2 years ago
- This is the MATLAB code for tube robust MPC with uncertainty quantification☆19Updated 5 months ago
- DisturbanceObserver NonlinearDisturbanceObserver☆15Updated 5 years ago
- A basic nonlinear model predictive control implementation using Casadi with Unscented Kalman filter state estimation☆45Updated 3 years ago
- ☆33Updated 3 months ago
- ☆20Updated 2 years ago
- Control barrier function based motion planning☆13Updated 4 years ago