control-lyapunov-functions 开源项目推荐（13 个）

HybridRobotics /CBF-CLF-Helper

Matlab Interface for Control Barrier Function (CBF) and Control Lyapunov Function (CLF) based control methods.

HybridRobotics /MPC-CBF

《安全关键模型预测控制与离散时间控制障碍函数》，作者J. Zeng、B. Zhang和K. Sreenath https://arxiv.org/abs/2007.11718

HybridRobotics /NMPC-DCLF-DCBF

使用非线性模型预测控制（NMPC）以及离散时间控制 Lyapunov 函数（CLF）和控制屏障函数（CBF）的工作合集

YaChienChang /Neural-Lyapunov-Control

Learning Lyapunov functions and control policies of nonlinear dynamical systems

UMich-BipedLab /CLF_reactive_planning_system

This package provides a CLF-based reactive planning system, described in paper: Efficient Anytime CLF Reactive Planning System for a Bipedal Robot on Undulating Terrain. The reactive planning system consists of a 5-Hz planning thread to guide a robot to a distant goal and a 300-Hz Control-Lyapunov-Function-based (CLF-based) reactive thread to co…

buntonj /CLF-CBF-QP

Matlab class/functions to simulate a system implementing a control Lyapunov-control barrier function quadratic program controller.

HybridRobotics /CBF-Pointwise-Feasibility

"Safety-Critical Control using Optimal-decay Control Barrier Functions with Guaranteed Point-wise Feasibility" by J. Zeng, B. Zhang, Z. Li and K. Sreenath https://arxiv.org/pdf/2103.12375.pdf

vkotaru /nonlinear_controls

Nonlinear controls, linear controls, Lyapunov-based controls, MPC, geometric, etc.

JohannesAutenrieb /CBF_ACC

This collection of MATLAB scripts intends to study the performance of state-constrained controllers utilizing control barrier functions in the context of adaptive cruise control.

robotsorcerer /LyapunovLearner

Learning Control Lyapunov Functions to Stabilize the Trajectories of Dynamical Systems.

cpml-au /SR-CLF

Symbolic regression of Control Lyapunov Functions.

zvfas /dcl350-2026-jan-19

🌐 Implement microservices with Spring Cloud, covering service discovery, configuration, API gateway, and resilience patterns for effective architecture.

kovariati /D-SCEOS

Official code and reproducibility package for D-SCEOS: swarm-inspired peer-to-peer control for resource-aware flexibility sharing in cyber-physical energy systems (CPES), distributed energy resources and virtual power plants; CLF/HOCBF safe control. Energy Conversion and Management: X 31 (2026) 102212. DOI: 10.1016/j.ecmx.2026.102212