Tobias Glück
3 HN mentions · mentioned in 3 months, 2014–2023
3:06 · 239K views · Mar 29, 2011
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.
3 comments from Hacker News
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]
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]
N1 designers did not have good computers. Chaotic behavior does not mean that system is impossible to control (e.g. double pendulum this video ).