Double Pendulum on a Cart
Why Hacker News recommends it
Cited as a harder real-world version of the pole-balancing problem and as proof that chaotic systems can be controlled.
What it is
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.
Recommended by 0 HN commenters across 0 different months, 2014 to 2023.
What Hacker News said
Cites fjarlq · 2014-07 · on “Double Pendulum in fewer than 100 lines of JavaScript”
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]
Cites imaginenore · 2016-09 · on “Neuromorphic computing implementation of pole balancing”
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]
Cites chr1 · 2023-10 · on “SpaceX Starship Super Heavy Project at the Boca Chica Launch Site”
N1 designers did not have good computers. Chaotic behavior does not mean that system is impossible to control (e.g. double pendulum [this video] ).