239K views · Mar 29, 2011 · 3:06 · 0 HN recommenders · 3 mentions · discussed 2014–2023
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.
Why Hacker News points people here: Cited as a harder real-world version of the pole-balancing problem and as proof that chaotic systems can be controlled.
“Triple!!! inverted pendulum balancing with a physical cart (2011), a much much much harder task”HN comment, 2016
“It'd be fun to write software to balance the double pendulum.”
Example of balancing a double pendulum on a cart
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
“Double inverted pendulum balancing with a physical cart (2011), a much much harder task”
Physical double inverted pendulum on a cart, a harder task
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
“Chaotic behavior does not mean that system is impossible to control”
Shows chaotic system can still be controlled
N1 designers did not have good computers. Chaotic behavior does not mean that system is impossible to control (e.g. double pendulum this video ).
