roimar90 / 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) (https://arxiv.org/abs/2109.12313, https://arxiv.org/abs/2105.10596, https://arxiv.org/abs/2007.11718)

Status: The implementation code for corresponding papers will be merged here and new papers will be added in an inverse order of submission.

Introduction

In this repository, a collection of our work is presented where nonlinear model predictive control (NMPC) with control Lyapunov functions (CLFs) and control barrier functions (CBFs) are applied.

Citing

If you find this project useful in your work, please consider citing following work:

• A. Thirugnanam, J. Zeng, K. Sreenath. "A Fast Computational Optimization for Control and Trajectory Planning for Obstacle Avoidance between Polytopes." submitted to 2022 IEEE International Conference on Robotics and Automation (ICRA). [arXiv] [Video] [Docs]

• J. Zeng, Z. Li, K. Sreenath. "Enhancing Feasibility and Safety of Nonlinear Model Predictive Control with Discrete-Time Control Barrier Functions." 2021 IEEE Conference on Decision and Control (CDC). [arXiv] [Docs] [Code]

• J. Zeng, B. Zhang and K. Sreenath. "Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function." 2021 IEEE American Control Conference (ACC). [IEEE] [arXiv] [Docs] [Code]