A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)

Codes for "Balancing Computation Speed and Quality: A Decentralized Motion Planning Method for Cooperative Lane Changes of Connected and Automated Vehicles"

DMOC method for a simple pendulum swing-up control

AC Optimal Power Flow (OPF), yalmip modeling, ipopt solving 交流最优潮流, yalmip 建模, ipopt 求解