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Double Pendulum on a Cart

Tobias GlückCited 3× on HN, 2014–2023
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demo · intermediate · evergreen · 2014–2023 on HN

A TU Vienna demo of a double inverted pendulum on a cart, using constrained feedforward and optimal feedback control for swing-up and point-to-point motion.

Cited as a harder real-world version of the pole-balancing problem and as proof that chaotic systems can be controlled.

RoboticsMechanical & precision engineering#controltheory#invertedpendulum#optimalcontrol#swing-up

3 comments from Hacker News

@chr12023-10 · in “SpaceX Starship Super Heavy Project at the Boca Chica Launch Site”

N1 designers did not have good computers. Chaotic behavior does not mean that system is impossible to control (e.g. double pendulum ▶ this video ).

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@imaginenore2016-09 · in “Neuromorphic computing implementation of pole balancing”

Two-pole balancing (2009): link Double inverted pendulum balancing (2015), a much harder task: link Double inverted pendulum balancing with a physical cart (2011), a much much harder task: ▶ this video Triple!!! inverted pendulum balancing with a physical cart (2011), a much much much harder task: link

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@fjarlq2014-07 · in “Double Pendulum in fewer than 100 lines of JavaScript”

Cool. Feature request: mount the pivot on a programmable cart. It'd be fun to write software to balance the double pendulum. e.g. ▶ this video and, balancing a triple pendulum: link

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