NMPC-DCLF-DCBF
Model predictive control library
An implementation of nonlinear model predictive control using discrete-time control Lyapunov functions and control barrier functions for safety-critical systems.
A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
227 stars
8 watching
45 forks
Language: MATLAB
last commit: about 1 year ago
Linked from 1 awesome list
control-barrier-functionscontrol-lyapunov-functionsipoptmatlabmodel-predictive-controlmpc-controlnonlinear-optimizationobstacle-avoidance-algorithmquadratic-programmingsafety-critical-systems
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