Sackarias Lunmanblog.sackarias.se·Aug 14, 2023Swing-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 ...Discuss·166 readsCart-PoleLQR

Sackarias Lunmanblog.sackarias.se·Jun 18, 2023Trajectory 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...Discuss·128 readsCart-PolePython

Sackarias Lunmanblog.sackarias.se·Mar 13, 2023Trajectory 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 ...Discuss·294 readsCart-Poleoptimization