collaborators

1 paper

eess.SY2026

System Identification and acados-Based NMPC for Swing-Up Control of an Underactuated Double Pendulum

Sichen Li, Venkateswarlu Reddy Konkala, Xiaojie Ning +1

We identify a base-parameter model of CloudPendulum cell 203 and track an offline swing-up reference with acados SQP-RTI NMPC at a target rate of 400 Hz. A 5 mNm passive-joint assi…