hybridrobotics / cbf-clf-helper Goto Github PK

Thanks for making this tool available. It's really helpful to use it to play around the values. I have a quesiton regarding to implement HOCBF (ECBF in this case). Why is the CBF defined like this?

Shouldn't the ECBF be like LfLf h(x) + LgLfh(x) u >= -gamma_1 h(x) - gamma_2 Lfh(x)? How does line 23 convert into the ECBF constraint with control (u) in it?

I appreciate your contribution to the field of control engineering. Your programs are well-written and clear. However, I am a novice in this area and I would like to learn more about the CBF design method applied to the Dobbins car example. Could you please provide me with the reference of the paper that you used as a source?

Not entirely sure what is causing this error

Thank you @ChoiJangho for the repo. Hopefully, this will be the start of many collaborations to come.

As @ayush-agrawal mentioned shall we add? an abstract dynsys class (containing useful functions, for instance, all the ways to integrate the system 1. continuous integration, 2. discrete integration, 3. zero-order hold integration).

(Also, using this issue to get the lab started on using issues (hopeful other Github features)).

          It is resolved

Originally posted by @kalebbennaveed in #8 (comment)

How did you resolve this problem?

Hello, I have 3 questions about Manual_v1.pdf

1. in page 7, CLF, why should we put a infimum before dot_V+λ*V≤0? (Also for CBF, a supremum before dot_B+γB≥0)
2. in page 14, when examine the CBF, why consider only the case under maximum deceleration?
3. in page 14, B = z-Thv-0.5(v-v0)/cdg, why could we conclude the CBF is vaild when dot_B>0 under maximum deceleration not dot_B+γ*B >=0?
   I would appreciate it if you could answer my question, thank you!

When considering control input constraints, the eye() function should be used instead of the ones() function.

Regarding run_cbf_clf_simulation_dubins_car.m, there is no change even if I change the Desired target point params.xd and params.yd. Is there a bug in the program that does not take the Desired target point into account?

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Hi, please report any typo you found in the manual or any suggestions on improving it in this thread. Thanks a lot!

When I run the 2DDI case, MATLAB says" Error using DoubleIntegrator2D \ too many input arguments".