An implementation of a soft constrained nonlinear model predictive safety filter with stability guarantees. The soft constrained safety filter can be added as a filtering layer on top of any learning based controller and is guaranteed to keep the agent in a safe state. In case of a singular disturbance that drives the agent out of a the safe set, the soft safetly filter is guaranteed to return the agent to a safe state and recover from the unsafe situation.
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an implementation of a soft constrained model predictive safety filter with stability guarantees
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ziyadsheeba/soft-safety-filter
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an implementation of a soft constrained model predictive safety filter with stability guarantees
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