12345qiupeng
/
MPC-CBF
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Update README.md

master
Jun Zeng 2022-01-20 18:57:39 -08:00
parent 2c18a4a16a
commit 3a4ea54ab9
1 changed files with 17 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

18
README.md
View File

@ -14,10 +14,26 @@ If you find this project useful in your work, please consider citing following w
title={Safety-critical model predictive control with discrete-time control barrier function}, title={Safety-critical model predictive control with discrete-time control barrier function},
author={Zeng, Jun and Zhang, Bike and Sreenath, Koushil}, author={Zeng, Jun and Zhang, Bike and Sreenath, Koushil},
booktitle={2021 American Control Conference (ACC)}, booktitle={2021 American Control Conference (ACC)},
year={2021} year={2021},
volume={},
number={},
pages={3882-3889}
} }
``` ```
For analysis of feasibility, safety and computational complexity, please check out the following paper:
```
@inproceedings{zeng2021mpccbf-feasibility,
title={Enhancing feasibility and safety of nonlinear model predictive control with discrete-time control barrier functions},
author={Zeng, Jun and Li, Zhongyu and Sreenath, Koushil},
booktitle={2021 Conference on Decision and Control (CDC)},
year={2021},
volume={},
number={},
pages={6137-6144}
}
```
#### Instructions #### Instructions
The 2D double integrator is assigned to reach the target position at origin while avoiding obstacles. We have three classes for different controllers: `DCLFDCBF.m` (DCLF-DCBF), `MPCCBF.m` (MPC-CBF) and `MPCDC` (MPC-DC), respectively. The 2D double integrator is assigned to reach the target position at origin while avoiding obstacles. We have three classes for different controllers: `DCLFDCBF.m` (DCLF-DCBF), `MPCCBF.m` (MPC-CBF) and `MPCDC` (MPC-DC), respectively.