Abstract: Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the ...

This document provides a detailed explanation of the MATLAB code that demonstrates the application of the Koopman operator theory for controlling a nonlinear system using Model Predictive Control (MPC ...

I'm trying to get block detection working on my HO scale model railroad. I found this page and liked the idea of using current transformers to detect the Digital Command Control signal inducing ...

Abstract: This paper presents a model predictive control (MPC) with recursive feasibility guarantees for robots with LiDAR sensory measurements. Control barrier functions (CBF) are incorporated within ...