https://github.com/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)
https://github.com/hybridrobotics/nmpc-dclf-dcbf
control-barrier-functions control-lyapunov-functions ipopt matlab model-predictive-control mpc-control nonlinear-optimization obstacle-avoidance-algorithm quadratic-programming safety-critical-systems
Last synced: 3 months ago
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A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
- Host: GitHub
- URL: https://github.com/hybridrobotics/nmpc-dclf-dcbf
- Owner: HybridRobotics
- License: mit
- Created: 2021-06-09T03:31:34.000Z (about 4 years ago)
- Default Branch: master
- Last Pushed: 2023-11-09T10:49:58.000Z (over 1 year ago)
- Last Synced: 2025-04-02T07:09:38.670Z (3 months ago)
- Topics: control-barrier-functions, control-lyapunov-functions, ipopt, matlab, model-predictive-control, mpc-control, nonlinear-optimization, obstacle-avoidance-algorithm, quadratic-programming, safety-critical-systems
- Language: MATLAB
- Homepage:
- Size: 53.3 MB
- Stars: 256
- Watchers: 8
- Forks: 46
- Open Issues: 6
-
Metadata Files:
- Readme: README.md
- License: LICENSE
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README
**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.
### Dependencies
The packages needed for running the code are [Yalmip](https://yalmip.github.io/) and [IPOPT](https://projects.coin-or.org/Ipopt/wiki/MatlabInterface).
We also provide the zipped version of precompiled .mex files for IPOPT in the folder `packages` in case you don't have it. Unzip the file based on the operating system and add those .mex files into your MATLAB path.
### Citing
#### Theoretical Publications
If you find this project useful in your work, please consider citing following work:
* S. Liu, J. Zeng, K. Sreenath and C. Belta. "Iterative Convex Optimization for Model Predictive Control with Discrete-Time High-Order Control Barrier Functions." *2023 IEEE American Control Conference (ACC)*. [[arXiv]](https://arxiv.org/abs/2210.04361) [[Docs]](matlab/acc2023/README.md) [[Code]](matlab/acc2023) [[BibTex]](bibtex/acc2023_impc_dhocbf.md)
* A. Thirugnanam, J. Zeng, K. Sreenath. "Safety-Critical Control and Planning for Obstacle Avoidance between Polytopes with Control Barrier Functions." *2022 IEEE International Conference on Robotics and Automation (ICRA)*. [[IEEE]](https://ieeexplore.ieee.org/document/9812334) [[arXiv]](https://arxiv.org/abs/2109.12313) [[Video]](https://youtu.be/wucophROPRY) [[BibTex]](bibtex/icra2022_nmpc_dcbf_polytope.md)
* 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)*. [[IEEE]](https://ieeexplore.ieee.org/document/9683174) [[arXiv]](https://arxiv.org/abs/2105.10596) [[Docs]](matlab/cdc2021/README.md) [[Code]](matlab/cdc2021) [[BibTex]](bibtex/cdc2022_nmpc_dcbf_feasibility.md)
* 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]](https://ieeexplore.ieee.org/document/9483029) [[arXiv]](https://arxiv.org/abs/2007.11718) [[Docs]](matlab/acc2021/README.md) [[Code]](matlab/acc2021) [[BibTex]](bibtex/acc2021_nmpc_dcbf.md)
#### Applicational Publications
* Z. Li, J. Zeng, A. Thirugnanam, K. Sreenath. "Bridging Model-based Safety and Model-free Reinforcement Learning through System Identification of Low Dimensional Linear Models." *2022 Proceedings of Robotics: Science and Systems (RSS)*. [[RSS]](http://www.roboticsproceedings.org/rss18/p033.html) [[arXiv]](https://arxiv.org/abs/2205.05787) [[BibTex]](bibtex/rss2022_nmpc_dcbf_legged_robots.md) [[Webpage]](https://sites.google.com/berkeley.edu/rl-sysid-rss2022/home)