An SQP-based MPC controller with inverse-dynamics formulation swings up and stabilizes underactuated double pendulums on hardware, with 100% success in three of four scenarios but 70% on the disturbed Acrobot.
Structure-Exploiting Sequential Quadratic Program- ming for Model-Predictive Control,
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Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up
An SQP-based MPC controller with inverse-dynamics formulation swings up and stabilizes underactuated double pendulums on hardware, with 100% success in three of four scenarios but 70% on the disturbed Acrobot.