Abstract: Combining model predictive control (MPC) with control barrier functions (CBFs) is a promising solution for addressing safety-critical control problems in robot navigation scenarios. The ...

Abstract: This paper compares Classical Model Predictive Control (CMPC) and Sequential Model Predictive Control (SMPC) for a three-level Neutral Point Clamped (NPC) converter. Although CMPC is simple ...

This library provides a simple interface for controlling high-power DC motors using the BTS7960 motor driver module. It allows users to easily manage motor speed and direction with minimal setup and ...

franky is a high-level control library for Franka robots, offering Python and C++ support. By providing a high-level control interface, franky eliminates the need for strict real-time programming at 1 ...