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arXiv · 2504.05363

Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum

Blanka Burchard·Franek Stark
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Abstract

The 3rd AI Olympics with RealAIGym competition poses the challenge of developing a global policy that can swing up and stabilize an underactuated 2-link system Acrobot and/or Pendubot from any configuration in the state space. This paper presents an optimal control-based approach using a real-time Nonlinear Model Predictive Control (MPC). The results show that the controller achieves good performance and robustness and can reliably handle disturbances.

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Blanka Burchard, Franek Stark. 2025-04-07. Real-Time Model Predictive Control for the Swing-Up Problem of an Underactuated Double Pendulum. https://arxiv.org/abs/2504.05363

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