europ-cf-bk's Introduction

EUROP Project:

Investigating optimal control of quad-copters

Folder	Description	Relevant to Report Section
BeeSolver	Implement a version of the Bee's Solver algorithm	Low-level Control System
Controllers	Compares the MPC controller with the CBF controller	Comparing Controllers
KinematicQP	Implements the CBF controller in various forms	Non-linear Control
MPC-CA	Implements the MPC controller	Model Predictive Control
OSQP-BF	Contains implementation of traffic CBFs	Non-linear Control
Python-CBF	Implements Kinematic model in Python	Non-linear Control
Simulator	Simulink model and utilities	Low-level Control System

A reduced repository is available here with only the most necessary files: https://github.com/ben-kaye/bk-europ

OSQP may be required for some scripts.

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europ-cf-bk's Issues

CLF not working in QP on cbf_2

likely issue with constraints

CBF does not work. CLF works but not ideal -- ACC Testbed

drone_kinematic_cbf : QP or CBF not working to enforce safety

Suspected cause

h definitely is correct
Acbf or ucbf may be wrong
In the derivation I got a different sign for Lf and Lg but on throwing a -ve 1 in front of both, gives proper values, however CBF does not enforce quickly enough - potentially still wrong. Could be fixed with bigger gamma??

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