SLSackarias Lunmaninblog.sackarias.se·Aug 14, 2023 · 5 min readSwing-Up of an Inverted Pendulum on a CartI've reached an exciting milestone in my Cart-Pole journey: our very first successful swing-up of a single pendulum! Today, I will share the progress we've made during the recent weeks. I will explain everything about the physical model, the updated ...00
SLSackarias Lunmaninblog.sackarias.se·Jul 9, 2023 · 8 min readFast Optimization using CasADi with OptiWelcome back! Last time, we combined trajectory optimization with LQR stabilization that successfully managed the swing-up maneuver with two inverted pendulums. However, the computing time using our home-grown direct collocation algorithm was (unsurp...00
SLSackarias Lunmaninblog.sackarias.se·Jun 18, 2023 · 8 min readTrajectory Stabilization using LQRThe Cart-Pole project is continuing at a steady pace. At the moment, however, I am busy working as a Robotics Intern, so the development is a little bit slower than usual. The physical system is being built by me and a friend which I will hopefully s...00
SLSackarias Lunmaninblog.sackarias.se·Mar 13, 2023 · 9 min readTrajectory Optimization using Direct CollocationWelcome back, let's get started. We've discovered the surprising power of the Linear Quadratic Regulator (LQR), but it also has its limits. LQR has a basin of attraction around the point we've linearized the dynamics around. If the cart-pole is in a ...00
SLSackarias Lunmaninblog.sackarias.se·Jan 18, 2023 · 8 min readControlling the Cart-Pole using LQRHi! Today's topic: Full-state feedback control. What is it? How do we optimize it? Can we do better? On the bullet-point list of new things: linearization, minimizing cost and LQR. By the way, if you want to have a deeper look into the code, visit th...00
