Lyapunov methods for safety-critical control theory (in Matlab)
There is one simple demo using Adaptive CBFs: Adaptive Cruise Control.
If you find this helpful, please cite our work:
@article{xiao2021adaptive,
title={Adaptive control barrier functions},
author={Xiao, Wei and Belta, Calin and Cassandras, Christos G},
journal={IEEE Transactions on Automatic Control},
volume={67},
number={5},
pages={2267--2281},
year={2021},
publisher={IEEE}
}