Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.
Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods. The library is designed to let users easily implement safety controller based on CBFs and CLFs with Matlab. We provide:
CtrlAffineSys
.defineSystem
and define your dynamics using the symbolic toolbox.defineClf
and defineCbf
and define your CLF and CBF in each function respectively using the same symbolic expressions.ctrlCbfClfQp
, ctrlClfQp
, etc.Please checkout the Manual for more details.
Run files in the directory demos
in Matlab.