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arXiv · 2608.08952

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

Sichen Li·Venkateswarlu Reddy Konkala·Xiaojie Ning·Abhishek Alaya Udupa
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Abstract

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 assist enabled development-stage swing-up and recovery. In organizer-run testing (16 trials of 300 s per configuration on cells 201--204), assisted pendubot and acrobot mean uptime scores were 80.19 s and 74.61 s. Acrobot scored zero on two cells, and seven trials ended on safety-limit exceptions. Because the assist is prohibited in evaluation, these results are diagnostic rather than qualification scores.

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Sichen Li, Venkateswarlu Reddy Konkala, Xiaojie Ning, Abhishek Alaya Udupa. 2026-08-09. System Identification and acados-Based NMPC for Swing-Up Control of an Underactuated Double Pendulum. https://arxiv.org/abs/2608.08952

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