A trajectory optimization library for Matlab

Example implementation for robust model predictive control using tube

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

Project for the course "Statistical Learning and Stochastic Control" at University of Stuttgart

Calculate the curvature of discrete points

MIT 16.S498: Risk Aware and Robust Nonlinear Planning (rarnop) by Ashkan Jasour

NMPC is implemented using Casadi in Matlab to control the steering, throttle, and braking of a vehicle in CarSim

We use reachability to ensure the safety of a decision agent acting on a dynamic system in real-time. We compute the Forward Reachable Set offline and use it online to adjust any potentially unsafe…

Model Predictive Control using MATLAB

Implementation of Hindiyeh 2014, "A Controller Framework for Autonomous Drifting: Design, Stability, and Experimental Validation"

Matlab iLQR class which will solve for the optimal set of inputs and gains to get to a desired state

Implementation of DDP algorithm for Optimal Control on a Bicycle Model for optimal lane change maneuvering and Skidpad track following.

Software for solving polynomial-quadratic regulator problems

CMU 16-745 Optimal Control & Reinforcement Learning Final Project with Gerald D'Ascoli, Jonathan Lord-Fonda, Jason Xiang

A path planner for semi-tailer trucks using sqp

MPC simulation framework for contingency planning

Files for our AA203 drift initiation project