MPC-CBF

We propose a control framework which unifies the model predictive control and control barrier functions. This is the reference implementation of our paper:

Safety-Critical Model Predictive Control with Discrete-Time Control Barrier Function

PDF | Code: Double Integratror | Code: Car Racing

Jun Zeng, Bike Zhang and Koushil Sreenath

Citing

If you find this code useful in your work, please consider citing:

@article{zeng2020mpccbf,
  title={Safety-critical model predictive control with discrete-time control barrier function},
  author={Zeng, Jun and Zhang, Bike and Sreenath, Koushil},
  journal={arXiv preprint arXiv:2007.11718},
  year={2020}
}

Instructions

Two independent markdown files are written to illustrate numerical examples of double integrator and racing car.

Dependencies

Matlab

The packages needed for running the code are Yalmip and IPOPT.

We also provide the zipped version of precompiled .mex files for IPOPT in the folder packages in case you don't have it. Unzip that file and add those .mex files into your MATLAB path.