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ben-kaye / europ-cf-bk

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drone_kinematic_cbf : QP or CBF not working to enforce safety #5

Open ben-kaye opened 4 years ago

ben-kaye commented 4 years ago

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??

ben-kaye commented 4 years ago

The CBF is not constraining the input quick enough. perhaps should change to 1/B