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Abstract: Control barrier functions (CBFs) are a popular approach to design feedback laws that achieve safety guarantees for nonlinear systems. The CBF-based controller design relies on the ...

This document provides a detailed explanation of the MATLAB code that demonstrates the application of the Koopman operator theory for controlling a nonlinear system using Model Predictive Control (MPC ...

Publish your MATLAB® functions to MATLAB Production Server™ as Model Context Protocol (MCP) tools. This allows AI agents to call your functions, enhancing their capabilities with domain-specific ...

Abstract: Adaptive kinematic/dynamic control of a robot arm (manipulator) is important for the robust execution of various tasks, including target tracking, when changes in the environment and robot’s ...