A collection of work using nonlinear model predictive control (NMPC) with discrete-time control Lyapunov functions (CLFs) and control barrier functions (CBFs)
MIT License
198
stars
46
forks
source link
use the correct flags to start multiple step horizon #13
At the beginning of test.m there are two flags for the execution of the MPC with a horizon of N = 8, presumably. But they are not used down below in the program. This PR fixes that.
At the beginning of
test.mthere are two flags for the execution of the MPC with a horizon ofN = 8, presumably. But they are not used down below in the program. This PR fixes that.