This project focuses on the modeling and control of a nonlinear cart–double-pendulum system by combining:
- Offline Trajectory Optimization
- Time-Varying Linear Quadratic Regulator (TVLQR) for online stabilization
The goal is to generate a feasible swing-up trajectory for the double pendulum and then stabilize the system around it using an LQR controller that changes with time.
The system consists of a cart of mass m1, with a two-link pendulum attached to it.
The pendulum links have lengths l2, l3 and masses m2, m3.
The cart moves horizontally under the influence of an external force u.
Angles θ2, θ3 are measured counter-clockwise from the upright position.
