A collection of work of nonlinear model predictive control (NMPC) with control Lyapunov functions (CLFs) and control barrier functions (CBFs)
Rule-Based Safety-Critical Control Design with Application to Autonomous Lane Change
"Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function" by J. Zeng, B. Zhang and K. Sreenath https://arxiv.org/abs/2007.11718
"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf
A toolkit for testing different control algorithm for car racing
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
Symbolic Computation of Dynamics on Smooth Manifolds
Multiple quadrotors carrying a flexible hose: dynamics, differential flatness and control
Contains all the functions (such as hat map, rotations, transport map, etc.) used during the development of geometric mechanics and control of robotic systems.
The official Agility Robotics Cassie documentation and software release repository.
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