%0 Generic
%A Coelho, Andre
%D 2022
%T Supplementary video to paper "EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems"
%U https://data.4tu.nl/articles/dataset/Supplementary_video_to_paper_EigenMPC_An_Eigenmanifold-Inspired_Model-Predictive_Control_Framework_for_Exciting_Efficient_Oscillations_in_Mechanical_Systems_/19196765/1
%R 10.4121/19196765.v1
%K Robotics systems
%K Model Predictive Control
%K Normal modes analysis
%X Video of the simulation of the EigenMPC controller applied to a double pendulum in order to reach sustained regular oscillations. <div><br></div><div>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.</div><div><br></div><div>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.</div><div><br></div><div><br></div>
%I 4TU.ResearchData