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Ramzi Gaagai's Projects

cbf-pointwise-feasibility icon 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

geodesicccm icon geodesicccm

Nonlinear Stabilization via Control Contraction Metrics: a Pseudospectral Approach for Computing Geodesics

latex icon latex

LaTeX for Professional Publications

nmpc-dclf-dcbf icon nmpc-dclf-dcbf

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

robustmp icon robustmp

Robust Online Motion Planning using Contraction Theory

safety-critical-control-with-input-delay-and-disturbance icon safety-critical-control-with-input-delay-and-disturbance

Matlab code for simulating safety-critical longitudinal control for a connected automated truck governed by dynamics with input delay and input disturbance. The controller is based on predictor feedback and tunable input-to-state safe control barrier functions. Main simulation file: truck.m, ODE solver: odeab4.m. See details in our paper below.

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