Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum
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arXiv
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| Main Authors: | , |
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| Format: | Preprint |
| Published: |
2025
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| _version_ | 1866917979578433536 |
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| author | Burchard, Blanka Stark, Franek |
| author_facet | Burchard, Blanka Stark, Franek |
| contents | The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state space. This paper presents an optimal control-based approach using a real-time Nonlinear Model Predictive Control (MPC). The results show that the controller achieves good performance and robustness and can reliably handle disturbances. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2504_05363 |
| institution | arXiv |
| publishDate | 2025 |
| record_format | arxiv |
| spellingShingle | Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum Burchard, Blanka Stark, Franek Systems and Control Robotics The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state space. This paper presents an optimal control-based approach using a real-time Nonlinear Model Predictive Control (MPC). The results show that the controller achieves good performance and robustness and can reliably handle disturbances. |
| title | Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum |
| topic | Systems and Control Robotics |
| url | https://arxiv.org/abs/2504.05363 |