TY - DATA
T1 - Supplementary video to paper "EigenMPC: An Eigenmanifold-Inspired Model-Predictive Control Framework for Exciting Efficient Oscillations in Mechanical Systems"
PY - 2022/02/22
AU - Andre Coelho
UR - 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
DO - 10.4121/19196765.v1
KW - Robotics systems
KW - Model Predictive Control
KW - Normal modes analysis
N2 - Video of the simulation of the EigenMPC controller applied to a double pendulum in order to reach sustained regular oscillations. <br>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.<br>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.<br><br>
ER -