Double Inverted Pendulum Swing-Up and Stabilization using MPC

Double Inverted Pendulum Swing-Up and Stabilization using MPC and RL

a control theory project.

Proximal Policy Optimization for the stabilization of an inverted double pendulum

Solving a classical control task of stabilization of double pendulum in inverted upright position.

Full Sate Feedback Stabilization of Double Inverted Pendulum on a cart in presence of external disturbances.

Real-time simulation and control of underactuated systems (Cart-Pole, Double Pendulum). Implemented in Modern C++ and ROS 2 Jazzy, featuring LQR stabilization, RK4 integration, and nonlinear energy shaping.

A rigorous simulation and control framework for the double pendulum on a cart, utilizing Lagrangian mechanics for precise dynamics. Implements a custom reinforcement learning agent (PPO) to master the highly nonlinear swing-up and stabilization task.

Stabilization of an inverted double pendulum.

No description available

MuJoCo Bootcamp W04 - Energy and stabilization of double pendulum

Simulating stabilization of double pendulum with RL and controls

We use reinforcement learning for the optimal control and stabilization of pendulum and double pendulum systems, adressing the swing-up problem

Digital control and simulation of a double inverted pendulum system using MATLAB and state-space methods for stabilization and trajectory tracking.

This repository provides code for computing LQR control of two systems—a double inverted pendulum and two distinct pendulums on a cart—aiming for infinite-horizon stabilization around the upright position, with analysis of controllability and stabilizability.