Double Pendulum on a Cart
Tobias Glück0 HN recommenders · 2014–2023
239K views · demo · evergreen · Uploaded 2011-03-29
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.
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3 comments from Hacker News
Cool. Feature request: mount the pivot on a programmable cart. It'd be fun to write software to balance the double pendulum. e.g. [VIDEO] and, balancing a triple pendulum: [LINK]
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: [VIDEO] Triple!!! inverted pendulum balancing with a physical cart (2011), a much much much harder task: [LINK]
N1 designers did not have good computers. Chaotic behavior does not mean that system is impossible to control (e.g. double pendulum [VIDEO] ).