Double Pendulum on a Cart

Tobias Glück · 239.1K views · 2011-03-29 · 3:06

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Overview

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.

On Hacker News

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

Discussed on HN; no positive recommendation is recorded in this export · HN mentions 2014–2023

Topics

Robotics Mechanical & precision engineering

What people said

chr1 · 2023-10 · Reference
N1 designers did not have good computers. Chaotic behavior does not mean that system is impossible to control (e.g. double pendulum [VIDEO] ).
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imaginenore · 2016-09 · Reference
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]
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fjarlq · 2014-07 · Reference
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]
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Sources

Video by Tobias Glück, played through YouTube.

HN Library · Source license

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