Triple inverted pendulum (Transition control)

3단도립진자에서 발생하는 8개의 equilibrium points 들간의 transition을 제어하는 영상입니다. 샘플링 time은 1ms이고 제어는 Simulink와 LW-RCP02를 사용하였습니다.
This video shows the demonstration of transition control between 8 equilibrium points of a triple inverted pendulum. The sampling time is 1 ms. We used Simulink and LW-RCP02 for real-time control.

[@scootndute579]

This is insane.

[@philipolubodun2131]

Awesome work. Is there an Academic paper I could use as a reference?

[@dsdy1205]

CZcams:
Me:
CZcams: Wanna see a robot balance a rope?

[@fredfred2363]

What input data is used?
Very impressive.

[@user-ki3te9ep4c]

Hello, how do you measure the angle value?

[@TheAudaz1]

What type of controller and cpu do you use? Excellent project amazing

[@urimiroo]

2-DOF controller (optimal control (feedforward) + LQ time-varying controller(feedback)). We control it using a lab-built RCP (rapid control prototyping) system, which is interfaced with Simulink. So the control algorithm is constructed using Matab/Simulink and realtime control is made possible using the RCP(product name : LW-RCP02). Simulink control block diagram is run under rapid accelerator mode.

[@TheAudaz1]

@@urimiroo Wow that's really awesome I tried to do something similar but I couldn't. I'm going to keep trying

[@Ruhgtfo]

😮 dayum

[@En1Gm4A]

Is the code somewhere available?

[@hoathai7657]

What type of motor that you used?

[@urimiroo]

BLDC motor