vdorobantu / lyapy
Library for simulation of nonlinear control systems, control design, and Lyapunov-based learning.
☆39Updated 2 years ago
Related projects ⓘ
Alternatives and complementary repositories for lyapy
- Adaptive control-oriented meta-learning for nonlinear systems☆55Updated 3 years ago
- ☆49Updated 3 years ago
- Enforcing robust control guarantees within neural network policies☆54Updated 3 years ago
- Safe Exploration with MPC and Gaussian process models☆89Updated 4 years ago
- Safe learning of regions of attraction in uncertain, nonlinear systems with Gaussian processes☆38Updated 4 years ago
- Model-based Control using Koopman Operators☆47Updated 4 years ago
- Code needed to reproduce the examples found in "Learning Control Barrier Functions from Expert Demonstrations," by A. Robey, H. Hu, L. Li…☆57Updated last year
- Implementation of robust adaptive control methods for the linear quadratic regulator☆36Updated 2 years ago
- ☆20Updated 3 years ago
- Starter code accompanying homework assignments from AA203: Optimal and Learning-Based Control.☆23Updated 6 months ago
- ☆25Updated 3 years ago
- Pytorch implementation of Model Predictive Control with learned models☆28Updated 4 years ago
- Learning Certified Control Using Contraction Metric (CoRL 2020)☆31Updated last year
- A toolbox for trajectory optimization of dynamical systems☆50Updated 2 years ago
- ☆35Updated last year
- Automatic Tuning for Data-driven Model Predictive Control☆58Updated last year
- A PyTorch implementation of MPC as a Function Approximator☆17Updated 3 years ago
- Examples shown in class and recitation from AA203: Optimal and Learning-Based Control.☆47Updated 6 months ago
- Synthesizing neural-network Lyapunov functions (and controllers) as stability certificate.☆139Updated 11 months ago
- Codebase associated with paper "Memory-Efficient Learning of Stable Linear Dynamical Systems for Prediction and Control"☆22Updated 3 years ago
- Code for the paper "Control Barriers in Bayesian Learning of System Dynamics"☆25Updated 2 years ago
- Stabilizable Nonlinear Dynamics Learning☆21Updated 5 years ago
- Robot Controls Course Project☆56Updated 3 years ago
- Various Control Barrier Functions realized on cartpole.☆22Updated 4 months ago
- A Neural Network Approach for Real-Time High-Dimensional Optimal Control☆25Updated 2 years ago
- Learning Lyapunov functions and control policies of nonlinear dynamical systems☆119Updated 3 years ago
- Lyapunov-stable Neural Control for State and Output Feedback☆57Updated 4 months ago
- Code for the paper, "Industrial, large-scale model predictive control with structured neural networks."☆16Updated 2 years ago
- WIP implementation of Probabilistic Differential Dynamic Programming in PyTorch☆15Updated 4 months ago
- ☆24Updated 2 years ago