Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up

Nick Karydakis, Konstantinos Chatzilygeroudis

The 4th "AI Olympics with RealAIGym" competition, to be held at IJCAI-ECAI 2026 in Bremen, challenges participants to develop a global control policy for swinging up and stabilizin…