Problem
Research questions and friction points this paper is trying to address.
underactuated double-pendulum
swing-up control
real-time nonlinear MPC
model-free control
hardware-in-the-loop
Real-Time Nonlinear MPC via Sequential Quadratic Programming with Structure-Exploiting ADMM and Interior-Point Methods for Underactuated Double-Pendulum Swing-Up
🤖 AI Summary
This work proposes an efficient real-time nonlinear model predictive control (NMPC) approach for the remote underactuated double pendulum system under unknown parameters and limited interaction time. By integrating a structure-exploiting alternating direction method of multipliers (ADMM) with an interior-point-accelerated sequential quadratic programming (SQP) solver, the method achieves global swing-up and stabilization without requiring prior model knowledge. The proposed framework is directly deployed on the CloudPendulum remote hardware platform, satisfying stringent real-time constraints while demonstrating strong robustness and disturbance rejection capabilities. Experimental results confirm its effectiveness in reliably achieving both swing-up and stable regulation of the double pendulum system.
📝 Abstract
The 4th "AI Olympics with RealAIGym" competition, to be held at IJCAI-ECAI 2026 in Bremen, challenges participants to develop a global control policy for swinging up and stabilizing an underactuated two-link system in its upright position. In contrast to previous editions, participants develop and evaluate their control strategies directly on remotely accessible CloudPendulum hardware, with limited interaction time and without prior knowledge of the system's model parameters. This paper presents an optimal-control-based approach employing real-time nonlinear model predictive control implemented using sequential quadratic programming. The results demonstrate that the proposed SQP-based MPC controller achieves reliable swing-up and stabilization performance, while maintaining robustness against disturbances.
Innovation
Methods, ideas, or system contributions that make the work stand out.
Nonlinear MPC
Sequential Quadratic Programming
Structure-Exploiting ADMM
Underactuated Double Pendulum
Real-Time Optimal Control
🔎 Similar Papers
No similar papers found.
