Aubrey Logic AI LLC

CBF Descent Guidance

Hybrid 2-Stage MPC + L1 Adaptive + Control Barrier Function
Version 2.1 | Minimum Throttle Constraint Active

Trajectory Visualization

Actual Trajectory

MPC Ghost Prediction

CBF Safety Zone

Reference (Glide Slope)

Control Authority

MPC Stage 1

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MPC Stage 2

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Velocity Profile

TD Velocity

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Max Decel

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L1 Adaptation

θ̂ (Learned)

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σ̂ (Disturbance)

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Safety Interventions

CBF Activations

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Min Safe Alt

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Slew Limit %

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Test Status

ready

Ready for test execution