Supplementary video to paper "EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems"

doi: 10.4121/19196765.v1
The doi above is for this specific version of this dataset, which is currently the latest. Newer versions may be published in the future. For a link that will always point to the latest version, please use
doi: 10.4121/19196765
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.v1
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Dataset
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.


history
  • 2022-02-22 first online, published, posted
publisher
4TU.ResearchData
format
.MP4
organizations
University of Twente, Faculty of Electrical Engineering, Mathematics & Computer Science
German Aerospace Center, Institute of Robotics and Mechatronics

DATA

files (2)