Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum

2025/04/07 by Blanka Burchard, Burchard, Blanka, Franek Stark +1
Computer Science · Engineering · #Adaptive Dynamic Programming Control #Advanced Control Systems Optimization #Control and Dynamics of Mobile Robots #FOS: Computer and information sciences #FOS: Electrical engineering #Robotics (cs.RO) #Systems and Control (eess.SY) #electronic engineering #information engineering

paper · pdf · doi:10.48550/arxiv.2504.05363

openalex publication_date 2025/04/07 · openalex created_date 2025/10/10 · openalex updated_date 2026/07/28

Abstract

The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state space. This paper presents an optimal control-based approach using a real-time Nonlinear Model Predictive Control (MPC). The results show that the controller achieves good performance and robustness and can reliably handle disturbances.

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