Supplementary video to paper "EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems"
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Datacite citation style:
Andre Coelho (2022): Supplementary video to paper "EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems". Version 1. 4TU.ResearchData. dataset. https://doi.org/10.4121/19196765.v1Other citation styles (APA, Harvard, MLA, Vancouver, Chicago, IEEE) available at Datacite
licenceCC BY 4.0
Video of the simulation of the EigenMPC controller applied to a double pendulum in order to reach sustained regular oscillations.
Two versions of the controller are applied: (a) the adaptive version simultaneously finds and converges to the modes, (b) the curved version uses information about a pre-computed mode in order to converge to it.
Both versions are applied in order to find the two normal modes of the double pendulum, namely the in-phase mode and the anti-phase one.
- 2022-02-22 first online, published, posted
organizationsUniversity of Twente, Faculty of Electrical Engineering, Mathematics & Computer Science
German Aerospace Center, Institute of Robotics and Mechatronics