Controlology

This is just a controls playground, built to test various reseaarch interests.

Current focus is on Control Lyapunov Functions and Control Barrier Functions.

References: neural_clbf, cbf_opt, hj_reachability.

File structure:

This project is not set up as a package yet, so all files assume they are being run from the top level.

ToofControlPackage
│-  README.md
│-  main_train.py       <--- trains a neural CLF for a system
│-  main_test.py        <--- tests a controller on a system
│-  ...                 <--- misc, OK to ignore
│
└───systems
│   │-  sys_Parents.py            <--- abstract parent classes
│   │-  ...                       <--- systems, add per abc
│   
└───controllers
│   │-  ctr_Parents.py            <--- abstract parent classes
│   │-  ...                       <--- controllers, add per abc
│   └───trainedNetworks
│       │-  nnTrainer.py          <--- neural lyapunov trainer
│       │-  ~~~~~~.pth            <--- saved pytorch networks
│
└───simulators
│   │-  sim_Parents.py      <--- abstract parent classes
│   │-  ...                 <--- simulators, add per abc
│
└───visualizers
│   │-  vis_Parents.py      <--- abstract parent classes
│   │-  ...                 <--- visualizers, add per abc
│
└───utilities
    │-  ...                 <--- miscellaneous helper functions