Lyapunov methods for safety-critical control theory (in Matlab)
There are two simple demos using HOCBFs: Adaptive Cruise Control and Robot Control.
If you find this helpful, please cite our work:
@article{xiao2021high,
title={High-order control barrier functions},
author={Xiao, Wei and Belta, Calin},
journal={IEEE Transactions on Automatic Control},
volume={67},
number={7},
pages={3655--3662},
year={2021},
publisher={IEEE}
}
@inproceedings{xiao2019control,
title={Control barrier functions for systems with high relative degree},
author={Xiao, Wei and Belta, Calin},
booktitle={2019 IEEE 58th conference on decision and control (CDC)},
pages={474--479},
year={2019},
organization={IEEE}
}