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CLF-CBF-QP新形式下非线性系统的安全攸关控制与优化

QP求解使用了yalmip工具箱,因此需要添加该工具箱到MATLAB搜索路径。

论文引用

龙离军, 胡腾飞. CLF-CBF-QP新形式下非线性系统的安全攸关控制与优化[J]. 控制理论与应用, 2022, 39(8):1387-1396.

其他相关论文

https://github.com/NEU-Fly/Toolbox.git

  1. Z. Wang, T. Hu and L. Long, "Multi-UAV Safe Collaborative Transportation Based on Adaptive Control Barrier Function," in IEEE Transactions on Systems, Man, and Cybernetics: Systems, vol. 53, no. 11, pp. 6975-6983, Nov. 2023, doi: 10.1109/TSMC.2023.3292810.
  2. 胡腾飞. 基于控制障碍函数的安全攸关控制[D]. 东北大学, 2022.

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